write read eeprom added, actions updated

src/uas/UAS.cc

@@ -661,10 +661,20 @@ void UAS::requestParameters()
     sendMessage(msg);
 }
 
-void UAS::writeParameters()
+void UAS::writeParametersToStorage()
 {
-    //mavlink_message_t msg;
-    qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
+    mavlink_message_t msg;
+    // TODO Replace MG System ID with static function call and allow to change ID in GUI
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_STORAGE_WRITE);
+    sendMessage(msg);
+}
+
+void UAS::readParametersFromStorage()
+{
+    mavlink_message_t msg;
+    // TODO Replace MG System ID with static function call and allow to change ID in GUI
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(uint8_t)MAV_ACTION_STORAGE_READ);
+    sendMessage(msg);
 }
 
 void UAS::enableAllDataTransmission(bool enabled)
@@ -929,7 +939,7 @@ void UAS::launch()
 {
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
-    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_LAUNCH);
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_LAUNCH);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
@@ -943,7 +953,7 @@ void UAS::enable_motors()
 {
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
-    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_MOTORS_START);
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
@@ -957,7 +967,7 @@ void UAS::disable_motors()
 {
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
-    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_MOTORS_STOP);
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
@@ -1069,7 +1079,7 @@ void UAS::halt()
 {
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
-    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_HALT);
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HALT);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
@@ -1079,7 +1089,7 @@ void UAS::go()
 {
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
-    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_CONTINUE);
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,  (int)MAV_ACTION_CONTINUE);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
@@ -1090,7 +1100,7 @@ void UAS::home()
 {
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
-    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_RETURN);
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,  (int)MAV_ACTION_RETURN);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
@@ -1104,7 +1114,7 @@ void UAS::emergencySTOP()
 {
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
-    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_LAND);
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_LAND);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
@@ -1135,7 +1145,7 @@ bool UAS::emergencyKILL()
     {
         mavlink_message_t msg;
         // TODO Replace MG System ID with static function call and allow to change ID in GUI
-        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_KILL);
+        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL);
         // Send message twice to increase chance of reception
         sendMessage(msg);
         sendMessage(msg);
@@ -1164,7 +1174,7 @@ void UAS::shutdown()
         // If the active UAS is set, execute command
         mavlink_message_t msg;
         // TODO Replace MG System ID with static function call and allow to change ID in GUI
-        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_SHUTDOWN);
+        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_SHUTDOWN);
         // Send message twice to increase chance of reception
         sendMessage(msg);
         sendMessage(msg);

src/uas/UAS.h

@@ -200,7 +200,9 @@ public slots:
     void setParameter(int component, QString id, float value);
 
     /** @brief Write parameters to permanent storage */
-    void writeParameters();
+    void writeParametersToStorage();
+    /** @brief Read parameters from permanent storage */
+    void readParametersFromStorage();
 
     void enableAllDataTransmission(bool enabled);
     void enableRawSensorDataTransmission(bool enabled);

src/uas/UASInterface.h

@@ -173,7 +173,9 @@ public slots:
     /** @brief Request all onboard parameters of all components */
     virtual void requestParameters() = 0;
     /** @brief Write parameter to permanent storage */
-    virtual void writeParameters() = 0;
+    virtual void writeParametersToStorage() = 0;
+    /** @brief Read parameter from permanent storage */
+    virtual void readParametersFromStorage() = 0;
     /** @brief Set a system parameter
      * @param component ID of the system component to write the parameter to
      * @param id String identifying the parameter

src/ui/QGCParamWidget.cc

@@ -64,18 +64,22 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
 
     horizontalLayout->addWidget(tree, 0, 0, 1, 3);
-    QPushButton* readButton = new QPushButton(tr("Read"));
-    connect(readButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
-    horizontalLayout->addWidget(readButton, 1, 0);
+    QPushButton* refreshButton = new QPushButton(tr("Refresh"));
+    connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
+    horizontalLayout->addWidget(refreshButton, 1, 0);
 
-    QPushButton* setButton = new QPushButton(tr("Set (RAM)"));
+    QPushButton* setButton = new QPushButton(tr("Transmit"));
     connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters()));
     horizontalLayout->addWidget(setButton, 1, 1);
 
-    QPushButton* writeButton = new QPushButton(tr("Write (Disk)"));
+    QPushButton* writeButton = new QPushButton(tr("Write (ROM)"));
     connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
     horizontalLayout->addWidget(writeButton, 1, 2);
 
+    QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
+    connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters()));
+    horizontalLayout->addWidget(readButton, 2, 2);
+
     QPushButton* loadFileButton = new QPushButton(tr("Load File"));
     connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters()));
     horizontalLayout->addWidget(loadFileButton, 2, 0);
@@ -432,7 +436,12 @@ void QGCParamWidget::setParameters()
  */
 void QGCParamWidget::writeParameters()
 {
-    mav->writeParameters();
+    mav->writeParametersToStorage();
+}
+
+void QGCParamWidget::readParameters()
+{
+    mav->readParametersFromStorage();
 }
 
 /**

src/ui/QGCParamWidget.h

@@ -65,6 +65,8 @@ public slots:
     void setParameters();
     /** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
     void writeParameters();
+    /** @brief Read the parameters from permanent storage to RAM */
+    void readParameters();
     /** @brief Clear the parameter list */
     void clear();
     /** @brief Update when user changes parameters */