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Merge remote-tracking branch 'MavLink/master' into mapCache 

* MavLink/master:
  Remove dead parameter cache code
  Include type arg in method prototype
  New parameter cache loading spec
  Run DO_LAND_START as normal standaloneCoordinate
  Change MAV_CMD_DO_LAND_START to standaloneCoordinate
  Better error output
  Don't use home for last altitude
  Add gradient
QGC4.4
dogmaphobic 9 years ago
parent
04ea3c19ed a6cffd5414
commit
f30a47d9d3
9 changed files with 124 additions and 101 deletions
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  1. 25
      src/FactSystem/FactMetaData.cc
  2. 1
      src/FactSystem/FactMetaData.h
  3. 114
      src/FactSystem/ParameterLoader.cc
  4. 13
      src/FactSystem/ParameterLoader.h
  5. 38
      src/MissionEditor/MissionItemStatus.qml
  6. 1
      src/MissionManager/MavCmdInfoCommon.json
  7. 26
      src/MissionManager/MissionCommandList.cc
  8. 3
      src/MissionManager/MissionController.cc
  9. 4
      src/QGCApplication.cc

25
src/FactSystem/FactMetaData.cc
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@ -434,3 +434,28 @@ FactMetaData::ValueType_t FactMetaData::stringToType(const QString& typeString,
return valueTypeDouble; return valueTypeDouble;
} }
size_t FactMetaData::typeToSize(ValueType_t type)
{
switch (type) {
case valueTypeUint8:
case valueTypeInt8:
return 1;
case valueTypeUint16:
case valueTypeInt16:
return 2;
case valueTypeUint32:
case valueTypeInt32:
case valueTypeFloat:
return 4;
case valueTypeDouble:
return 8;
default:
qWarning() << "Unsupported fact value type" << type;
return 4;
}
}

1
src/FactSystem/FactMetaData.h
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@ -121,6 +121,7 @@ public:
static const int defaultDecimalPlaces = 3; static const int defaultDecimalPlaces = 3;
static ValueType_t stringToType(const QString& typeString, bool& unknownType); static ValueType_t stringToType(const QString& typeString, bool& unknownType);
static size_t typeToSize(ValueType_t type);
private: private:
QVariant _minForType(void) const; QVariant _minForType(void) const;

114
src/FactSystem/ParameterLoader.cc
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@ -72,14 +72,11 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
_waitingParamTimeoutTimer.setInterval(1000); _waitingParamTimeoutTimer.setInterval(1000);
connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_waitingParamTimeout); connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_waitingParamTimeout);
_cacheTimeoutTimer.setSingleShot(true);
_cacheTimeoutTimer.setInterval(2500);
connect(&_cacheTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_timeoutRefreshAll);
connect(_vehicle->uas(), &UASInterface::parameterUpdate, this, &ParameterLoader::_parameterUpdate); connect(_vehicle->uas(), &UASInterface::parameterUpdate, this, &ParameterLoader::_parameterUpdate);
/* Initially attempt a local cache load, refresh over the link if it fails */ // Ensure the cache directory exists
_tryCacheLookup(); QFileInfo(QSettings().fileName()).dir().mkdir("ParamCache");
refreshAllParameters();
} }
ParameterLoader::~ParameterLoader() ParameterLoader::~ParameterLoader()
@ -119,8 +116,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
if (parameterName == "_HASH_CHECK") { if (parameterName == "_HASH_CHECK") {
/* we received a cache hash, potentially load from cache */ /* we received a cache hash, potentially load from cache */
_cacheTimeoutTimer.stop(); _tryCacheHashLoad(uasId, componentId, value);
_tryCacheHashLoad(uasId, value);
return; return;
} }
_dataMutex.lock(); _dataMutex.lock();
@ -269,7 +265,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
if (waitingParamCount == 0) { if (waitingParamCount == 0) {
// Now that we know vehicle is up to date persist // Now that we know vehicle is up to date persist
_saveToEEPROM(); _saveToEEPROM();
_writeLocalParamCache(); _writeLocalParamCache(uasId, componentId);
} }
_checkInitialLoadComplete(); _checkInitialLoadComplete();
@ -522,19 +518,6 @@ Out:
} }
} }
void ParameterLoader::_tryCacheLookup()
{
/* Start waiting for 2.5 seconds to get a cache hit and avoid loading all params over the radio */
_cacheTimeoutTimer.start();
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
Q_ASSERT(mavlink);
mavlink_message_t msg;
mavlink_msg_param_request_read_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL, "_HASH_CHECK", -1);
_vehicle->sendMessageOnLink(_dedicatedLink, msg);
}
void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex) void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex)
{ {
mavlink_message_t msg; mavlink_message_t msg;
@ -604,40 +587,42 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
_vehicle->sendMessageOnLink(_dedicatedLink, msg); _vehicle->sendMessageOnLink(_dedicatedLink, msg);
} }
void ParameterLoader::_writeLocalParamCache() void ParameterLoader::_writeLocalParamCache(int uasId, int componentId)
{ {
QMap<int, MapID2NamedParam> cache_map; MapID2NamedParam cache_map;
foreach(int component, _mapParameterId2Name.keys()) { foreach(int id, _mapParameterId2Name[componentId].keys()) {
foreach(int id, _mapParameterId2Name[component].keys()) { const QString name(_mapParameterId2Name[componentId][id]);
const QString name(_mapParameterId2Name[component][id]); const Fact *fact = _mapParameterName2Variant[componentId][name].value<Fact*>();
const Fact *fact = _mapParameterName2Variant[component][name].value<Fact*>(); cache_map[id] = NamedParam(name, ParamTypeVal(fact->type(), fact->rawValue()));
cache_map[component][id] = NamedParam(name, ParamTypeVal(fact->type(), fact->rawValue()));
}
} }
QFile cache_file(QFileInfo(QSettings().fileName()).path() + QDir::separator() + "param_cache"); QFile cache_file(parameterCacheFile(uasId, componentId));
cache_file.open(QIODevice::WriteOnly | QIODevice::Truncate); cache_file.open(QIODevice::WriteOnly | QIODevice::Truncate);
QDataStream ds(&cache_file); QDataStream ds(&cache_file);
ds << cache_map; ds << cache_map;
} }
QString ParameterLoader::parameterCacheFile(void) QDir ParameterLoader::parameterCacheDir()
{ {
const QDir settingsDir(QFileInfo(QSettings().fileName()).dir()); const QString spath(QFileInfo(QSettings().fileName()).dir().absolutePath());
return settingsDir.filePath("param_cache"); return spath + QDir::separator() + "ParamCache";
} }
void ParameterLoader::_tryCacheHashLoad(int uasId, QVariant hash_value) QString ParameterLoader::parameterCacheFile(int uasId, int componentId)
{
return parameterCacheDir().filePath(QString("%1_%2").arg(uasId).arg(componentId));
}
void ParameterLoader::_tryCacheHashLoad(int uasId, int componentId, QVariant hash_value)
{ {
uint32_t crc32_value = 0; uint32_t crc32_value = 0;
/* The datastructure of the cache table */ /* The datastructure of the cache table */
QMap<int, MapID2NamedParam> cache_map; MapID2NamedParam cache_map;
QFile cache_file(parameterCacheFile()); QFile cache_file(parameterCacheFile(uasId, componentId));
if (!cache_file.exists()) { if (!cache_file.exists()) {
/* no local cache, immediately refresh all params */ /* no local cache, just wait for them to come in*/
refreshAllParameters();
return; return;
} }
cache_file.open(QIODevice::ReadOnly); cache_file.open(QIODevice::ReadOnly);
@ -647,29 +632,38 @@ void ParameterLoader::_tryCacheHashLoad(int uasId, QVariant hash_value)
ds >> cache_map; ds >> cache_map;
/* compute the crc of the local cache to check against the remote */ /* compute the crc of the local cache to check against the remote */
foreach(int component, cache_map.keys()) {
foreach(int id, cache_map[component].keys()) { foreach(int id, cache_map.keys()) {
const QString name(cache_map[component][id].first); const QString name(cache_map[id].first);
const void *vdat = cache_map[component][id].second.second.constData(); const void *vdat = cache_map[id].second.second.constData();
crc32_value = QGC::crc32((const uint8_t *)qPrintable(name), name.length(), crc32_value); const FactMetaData::ValueType_t fact_type = static_cast<FactMetaData::ValueType_t>(cache_map[id].second.first);
crc32_value = QGC::crc32((const uint8_t *)vdat, sizeof(uint32_t), crc32_value); crc32_value = QGC::crc32((const uint8_t *)qPrintable(name), name.length(), crc32_value);
} crc32_value = QGC::crc32((const uint8_t *)vdat, FactMetaData::typeToSize(fact_type), crc32_value);
} }
if (crc32_value == hash_value.toUInt()) { if (crc32_value == hash_value.toUInt()) {
qCInfo(ParameterLoaderLog) << "Parameters loaded from cache" << qPrintable(QFileInfo(cache_file).absoluteFilePath());
/* if the two param set hashes match, just load from the disk */ /* if the two param set hashes match, just load from the disk */
foreach(int component, cache_map.keys()) { int count = cache_map.count();
int count = cache_map[component].count(); foreach(int id, cache_map.keys()) {
foreach(int id, cache_map[component].keys()) { const QString &name = cache_map[id].first;
const QString &name = cache_map[component][id].first; const QVariant &value = cache_map[id].second.second;
const QVariant &value = cache_map[component][id].second.second; const FactMetaData::ValueType_t fact_type = static_cast<FactMetaData::ValueType_t>(cache_map[id].second.first);
const int mavType = _factTypeToMavType(static_cast<FactMetaData::ValueType_t>(cache_map[component][id].second.first)); const int mavType = _factTypeToMavType(fact_type);
_parameterUpdate(uasId, component, name, count, id, mavType, value); _parameterUpdate(uasId, componentId, name, count, id, mavType, value);
}
} }
} else { // Return the hash value to notify we don't want any more updates
/* cache and remote hashes differ. Immediately request all params */ mavlink_param_set_t p;
refreshAllParameters(); mavlink_param_union_t union_value;
p.param_type = MAV_PARAM_TYPE_UINT32;
strncpy(p.param_id, "_HASH_CHECK", sizeof(p.param_id));
union_value.param_uint32 = crc32_value;
p.param_value = union_value.param_float;
p.target_system = (uint8_t)_vehicle->id();
p.target_component = (uint8_t)componentId;
mavlink_message_t msg;
mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p);
_vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
} }
} }
@ -901,9 +895,3 @@ void ParameterLoader::_initialRequestTimeout(void)
refreshAllParameters(); refreshAllParameters();
_initialRequestTimeoutTimer.start(); _initialRequestTimeoutTimer.start();
} }
void ParameterLoader::_timeoutRefreshAll()
{
refreshAllParameters();
}

13
src/FactSystem/ParameterLoader.h
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@ -53,8 +53,11 @@ public:
~ParameterLoader(); ~ParameterLoader();
/// @return Directory of parameter caches
static QDir parameterCacheDir();
/// @return Location of parameter cache file /// @return Location of parameter cache file
static QString parameterCacheFile(void); static QString parameterCacheFile(int uasId, int componentId);
/// Returns true if the full set of facts are ready /// Returns true if the full set of facts are ready
bool parametersAreReady(void) { return _parametersReady; } bool parametersAreReady(void) { return _parametersReady; }
@ -110,9 +113,6 @@ protected:
void _tryCacheLookup(void); void _tryCacheLookup(void);
void _initialRequestTimeout(void); void _initialRequestTimeout(void);
private slots:
void _timeoutRefreshAll();
private: private:
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false); static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
int _actualComponentId(int componentId); int _actualComponentId(int componentId);
@ -120,8 +120,8 @@ private:
void _setupGroupMap(void); void _setupGroupMap(void);
void _readParameterRaw(int componentId, const QString& paramName, int paramIndex); void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value); void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
void _writeLocalParamCache(); void _writeLocalParamCache(int uasId, int componentId);
void _tryCacheHashLoad(int uasId, QVariant hash_value); void _tryCacheHashLoad(int uasId, int componentId, QVariant hash_value);
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType); MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType); FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
@ -157,7 +157,6 @@ private:
QTimer _initialRequestTimeoutTimer; QTimer _initialRequestTimeoutTimer;
QTimer _waitingParamTimeoutTimer; QTimer _waitingParamTimeoutTimer;
QTimer _cacheTimeoutTimer;
QMutex _dataMutex; QMutex _dataMutex;

38
src/MissionEditor/MissionItemStatus.qml
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@ -34,7 +34,7 @@ Rectangle {
property real expandedWidth ///< Width of control when expanded property real expandedWidth ///< Width of control when expanded
width: _expanded ? expandedWidth : _collapsedWidth width: _expanded ? expandedWidth : _collapsedWidth
height: expandLabel.y + expandLabel.height + _margins height: azimuthLabel.y + azimuthLabel.height + _margins
radius: ScreenTools.defaultFontPixelWidth radius: ScreenTools.defaultFontPixelWidth
color: qgcPal.window color: qgcPal.window
opacity: 0.80 opacity: 0.80
@ -44,13 +44,16 @@ Rectangle {
property real _collapsedWidth: distanceLabel.width + (margins * 2) property real _collapsedWidth: distanceLabel.width + (margins * 2)
property bool _expanded: true property bool _expanded: true
property real _distance: _currentMissionItem ? _currentMissionItem.distance : -1 property real _distance: _statusValid ? _currentMissionItem.distance : 0
property real _altDifference: _currentMissionItem ? _currentMissionItem.altDifference : -1 property real _altDifference: _statusValid ? _currentMissionItem.altDifference : 0
property real _azimuth: _currentMissionItem ? _currentMissionItem.azimuth : -1 property real _gradient: _statusValid ? Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) : 0
property real _isHomePosition: _currentMissionItem ? _currentMissionItem.homePosition : false property real _gradientPercent: isNaN(_gradient) ? 0 : _gradient * 100
property bool _statusValid: _distance != -1 property real _azimuth: _statusValid ? _currentMissionItem.azimuth : -1
property string _distanceText: _statusValid ? Math.round(_distance) + " meters" : "" property real _isHomePosition: _statusValid ? _currentMissionItem.homePosition : false
property string _altText: _statusValid ? Math.round(_altDifference) + " meters" : "" property bool _statusValid: currentMissionItem != undefined
property string _distanceText: _statusValid ? _distance.toFixed(2) + " m" : ""
property string _altText: _statusValid ? _altDifference.toFixed(2) + " m" : ""
property string _gradientText: _statusValid ? _gradientPercent.toFixed(0) + "%" : ""
property string _azimuthText: _statusValid ? Math.round(_azimuth) : "" property string _azimuthText: _statusValid ? Math.round(_azimuth) : ""
readonly property real _margins: ScreenTools.defaultFontPixelWidth readonly property real _margins: ScreenTools.defaultFontPixelWidth
@ -76,17 +79,17 @@ Rectangle {
} }
QGCLabel { QGCLabel {
id: azimuthLabel id: gradientLabel
anchors.left: altLabel.left anchors.left: distanceLabel.left
anchors.top: altLabel.bottom anchors.top: altLabel.bottom
text: "Azimuth: " + _azimuthText text: "Gradient: " + _gradientText
} }
QGCLabel { QGCLabel {
id: expandLabel id: azimuthLabel
anchors.left: azimuthLabel.left anchors.left: distanceLabel.left
anchors.top: azimuthLabel.bottom anchors.top: gradientLabel.bottom
text: _expanded ? "<<" : ">>" text: "Azimuth: " + _azimuthText
} }
QGCFlickable { QGCFlickable {
@ -128,12 +131,15 @@ Rectangle {
visible: object.relativeAltitude ? true : (object.homePosition || graphAbsolute) visible: object.relativeAltitude ? true : (object.homePosition || graphAbsolute)
} }
/*
Taking these off for now since there really isn't room for the numbers
QGCLabel { QGCLabel {
anchors.bottom: parent.bottom anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter anchors.horizontalCenter: parent.horizontalCenter
font.pixelSize: ScreenTools.smallFontPixelSize font.pixelSize: ScreenTools.smallFontPixelSize
text: (object.relativeAltitude ? "" : "=") + object.coordinate.altitude text: (object.relativeAltitude ? "" : "=") + object.coordinate.altitude.toFixed(0)
} }
*/
} }
} }

1
src/MissionManager/MavCmdInfoCommon.json
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@ -542,6 +542,7 @@
"friendlyName": "Land start", "friendlyName": "Land start",
"description": "Marker to indicate start of landing sequence.", "description": "Marker to indicate start of landing sequence.",
"specifiesCoordinate": true, "specifiesCoordinate": true,
"standaloneCoordinate": true,
"friendlyEdit": true, "friendlyEdit": true,
"category": "Basic" "category": "Basic"
}, },

26
src/MissionManager/MissionCommandList.cc
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@ -82,7 +82,7 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
QJsonParseError jsonParseError; QJsonParseError jsonParseError;
QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError); QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
if (jsonParseError.error != QJsonParseError::NoError) { if (jsonParseError.error != QJsonParseError::NoError) {
qWarning() << "Unable to open json document" << jsonParseError.errorString(); qWarning() << jsonFilename << "Unable to open json document" << jsonParseError.errorString();
return; return;
} }
@ -90,20 +90,20 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
int version = json.value(_versionJsonKey).toInt(); int version = json.value(_versionJsonKey).toInt();
if (version != 1) { if (version != 1) {
qWarning() << "Invalid version" << version; qWarning() << jsonFilename << "Invalid version" << version;
return; return;
} }
QJsonValue jsonValue = json.value(_mavCmdInfoJsonKey); QJsonValue jsonValue = json.value(_mavCmdInfoJsonKey);
if (!jsonValue.isArray()) { if (!jsonValue.isArray()) {
qWarning() << "mavCmdInfo not array"; qWarning() << jsonFilename << "mavCmdInfo not array";
return; return;
} }
QJsonArray jsonArray = jsonValue.toArray(); QJsonArray jsonArray = jsonValue.toArray();
foreach(QJsonValue info, jsonArray) { foreach(QJsonValue info, jsonArray) {
if (!info.isObject()) { if (!info.isObject()) {
qWarning() << "mavCmdArray should contain objects"; qWarning() << jsonFilename << "mavCmdArray should contain objects";
return; return;
} }
QJsonObject jsonObject = info.toObject(); QJsonObject jsonObject = info.toObject();
@ -113,7 +113,7 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
QStringList requiredKeys; QStringList requiredKeys;
requiredKeys << _idJsonKey << _rawNameJsonKey; requiredKeys << _idJsonKey << _rawNameJsonKey;
if (!JsonHelper::validateRequiredKeys(jsonObject, requiredKeys, errorString)) { if (!JsonHelper::validateRequiredKeys(jsonObject, requiredKeys, errorString)) {
qWarning() << errorString; qWarning() << jsonFilename << errorString;
return; return;
} }
@ -126,7 +126,7 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::String; << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::String;
if (!JsonHelper::validateKeyTypes(jsonObject, keys, types, errorString)) { if (!JsonHelper::validateKeyTypes(jsonObject, keys, types, errorString)) {
qWarning() << errorString; qWarning() << jsonFilename << errorString;
return; return;
} }
@ -152,7 +152,7 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
<< mavCmdInfo->_friendlyEdit; << mavCmdInfo->_friendlyEdit;
if (_mavCmdInfoMap.contains((MAV_CMD)mavCmdInfo->command())) { if (_mavCmdInfoMap.contains((MAV_CMD)mavCmdInfo->command())) {
qWarning() << "Duplicate command" << mavCmdInfo->command(); qWarning() << jsonFilename << "Duplicate command" << mavCmdInfo->command();
return; return;
} }
@ -172,14 +172,14 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey; keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey;
types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String; types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String;
if (!JsonHelper::validateKeyTypes(jsonObject, keys, types, errorString)) { if (!JsonHelper::validateKeyTypes(jsonObject, keys, types, errorString)) {
qWarning() << errorString; qWarning() << jsonFilename << errorString;
return; return;
} }
mavCmdInfo->_friendlyEdit = true; // Assume friendly edit if we have params mavCmdInfo->_friendlyEdit = true; // Assume friendly edit if we have params
if (!paramObject.contains(_labelJsonKey)) { if (!paramObject.contains(_labelJsonKey)) {
qWarning() << "param object missing label key" << mavCmdInfo->rawName() << paramKey; qWarning() << jsonFilename << "param object missing label key" << mavCmdInfo->rawName() << paramKey;
return; return;
} }
@ -198,14 +198,14 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
double value = enumValue.toDouble(&convertOk); double value = enumValue.toDouble(&convertOk);
if (!convertOk) { if (!convertOk) {
qWarning() << "Bad enumValue" << enumValue; qWarning() << jsonFilename << "Bad enumValue" << enumValue;
return; return;
} }
paramInfo->_enumValues << QVariant(value); paramInfo->_enumValues << QVariant(value);
} }
if (paramInfo->_enumValues.count() != paramInfo->_enumStrings.count()) { if (paramInfo->_enumValues.count() != paramInfo->_enumStrings.count()) {
qWarning() << "enum strings/values count mismatch" << paramInfo->_enumStrings.count() << paramInfo->_enumValues.count(); qWarning() << jsonFilename << "enum strings/values count mismatch" << paramInfo->_enumStrings.count() << paramInfo->_enumValues.count();
return; return;
} }
@ -224,11 +224,11 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
if (mavCmdInfo->friendlyEdit()) { if (mavCmdInfo->friendlyEdit()) {
if (mavCmdInfo->description().isEmpty()) { if (mavCmdInfo->description().isEmpty()) {
qWarning() << "Missing description" << mavCmdInfo->rawName(); qWarning() << jsonFilename << "Missing description" << mavCmdInfo->rawName();
return; return;
} }
if (mavCmdInfo->rawName() == mavCmdInfo->friendlyName()) { if (mavCmdInfo->rawName() == mavCmdInfo->friendlyName()) {
qWarning() << "Missing friendly name" << mavCmdInfo->rawName() << mavCmdInfo->friendlyName(); qWarning() << jsonFilename << "Missing friendly name" << mavCmdInfo->rawName() << mavCmdInfo->friendlyName();
return; return;
} }
} }

3
src/MissionManager/MissionController.cc
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@ -778,7 +778,8 @@ bool MissionController::_findLastAltitude(double* lastAltitude)
bool found = false; bool found = false;
double foundAltitude; double foundAltitude;
for (int i=0; i<_missionItems->count(); i++) { // Don't use home position
for (int i=1; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i)); MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
if (item->specifiesCoordinate() && !item->standaloneCoordinate()) { if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {

4
src/QGCApplication.cc
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@ -374,7 +374,9 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
QFile::remove(PX4AirframeLoader::aiframeMetaDataFile()); QFile::remove(PX4AirframeLoader::aiframeMetaDataFile());
QFile::remove(PX4ParameterMetaData::parameterMetaDataFile()); QFile::remove(PX4ParameterMetaData::parameterMetaDataFile());
QFile::remove(ParameterLoader::parameterCacheFile()); QDir paramDir(ParameterLoader::parameterCacheDir());
paramDir.removeRecursively();
paramDir.mkpath(paramDir.absolutePath());
} }
_lastKnownHomePosition.setLatitude(settings.value(_lastKnownHomePositionLatKey, 37.803784).toDouble()); _lastKnownHomePosition.setLatitude(settings.value(_lastKnownHomePositionLatKey, 37.803784).toDouble());

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