test

fehler_waypoints.txt

@@ -0,0 +1 @@
+	0	0.9	1.1	-0.6	0	1	1	0.1	2000

parameters.txt

@@ -0,0 +1,84 @@
+# Onboard parameters for system MAV 042
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	200	ACC_NAV_OFFS_X	0
+42	200	ACC_NAV_OFFS_Y	0
+42	200	ACC_NAV_OFFS_Z	-1000
+42	200	ACC_OFFSET_X	0
+42	200	ACC_OFFSET_Y	0
+42	200	ACC_OFFSET_Z	0
+42	200	ATT_KAL_IYAW	1
+42	200	ATT_KAL_KACC	0.0033
+42	200	ATT_OFFSET_X	0
+42	200	ATT_OFFSET_Y	0
+42	200	ATT_OFFSET_Z	-0.08
+42	200	CAM_EXP	1000
+42	200	CAM_INTERVAL	36000
+42	200	DEBUG_1	0
+42	200	DEBUG_2	0
+42	200	DEBUG_3	0
+42	200	DEBUG_4	0
+42	200	DEBUG_5	0
+42	200	DEBUG_6	0
+42	200	GYRO_OFFSET_X	29760
+42	200	GYRO_OFFSET_Y	29860
+42	200	GYRO_OFFSET_Z	29877
+42	200	MIX_OFFSET	1
+42	200	MIX_POSITION	0
+42	200	MIX_POS_YAW	0
+42	200	MIX_REMOTE	1
+42	200	MIX_Z_POSITION	0
+42	200	PID_ATT_AWU	0.3
+42	200	PID_ATT_D	30
+42	200	PID_ATT_I	60
+42	200	PID_ATT_P	90
+42	200	PID_POS_AWU	5
+42	200	PID_POS_D	2
+42	200	PID_POS_I	0.35
+42	200	PID_POS_P	1.6
+42	200	PID_POS_Z_AWU	3
+42	200	PID_POS_Z_D	0.2
+42	200	PID_POS_Z_I	0.1
+42	200	PID_POS_Z_LIM	0.3
+42	200	PID_POS_Z_P	0.5
+42	200	PID_YAWPOS_AWU	1
+42	200	PID_YAWPOS_D	0.5
+42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_P	1
+42	200	PID_YAWSPEED_D	0
+42	200	PID_YAWSPEED_I	10
+42	200	PID_YAWSPEED_P	30
+42	200	PID_YAWSPE_AWU	1
+42	200	POS_SP_ACCEPT	0
+42	200	POS_SP_X	1.1
+42	200	POS_SP_Y	1.1
+42	200	POS_SP_YAW	0
+42	200	POS_SP_Z	-0.8
+42	200	POS_TIMEOUT	2e+06
+42	200	RC_NICK_CHAN	1
+42	200	RC_ROLL_CHAN	2
+42	200	RC_SAFETY_CHAN	5
+42	200	RC_THRUST_CHAN	3
+42	200	RC_TRIM_CHAN	0
+42	200	RC_TUNE_CHAN1	7
+42	200	RC_TUNE_CHAN2	5
+42	200	RC_TUNE_CHAN3	6
+42	200	RC_TUNE_CHAN4	8
+42	200	RC_YAW_CHAN	4
+42	200	SEND_DEBUGCHAN	0
+42	200	SLOT_ATTITUDE	1
+42	200	SLOT_CONTROL	0
+42	200	SLOT_RAW_IMU	0
+42	200	SLOT_RC	0
+42	200	SYS_COMP_ID	200
+42	200	SYS_ID	42
+42	200	SYS_IMU_RESET	0
+42	200	SYS_SW_VER	2005
+42	200	SYS_TYPE	2
+42	200	UART_0_BAUD	115200
+42	200	UART_1_BAUD	57600
+42	200	VEL_DAMP	0.95
+42	200	VEL_OFFSET_X	0
+42	200	VEL_OFFSET_Y	0
+42	200	VEL_OFFSET_Z	0
+42	200	VIS_YAWCORR	0

src/uas/PxQuadMAV.cc

@@ -134,6 +134,8 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit localizationChanged(this, status.position_fix);
                 emit visionLocalizationChanged(this, status.vision_fix);
                 emit gpsLocalizationChanged(this, status.gps_fix);
+
+                qDebug() << "ATT CONTROL IS" << status.control_att;
             }
             break;
     default:

src/ui/QGCParamWidget.cc

@@ -383,11 +383,22 @@ void QGCParamWidget::loadParameters()
                 if (mav->getUASID() == wpParams.at(0).toInt())
                 {
 
-                    qDebug() << "PARAM right uas";
+                    bool changed = false;
+                    int component = wpParams.at(1).toInt();
+                    QString parameterName = wpParams.at(2);
+                    if (!parameters.contains(component) || parameters.value(component)->value(parameterName, 0.0f) != (float)wpParams.at(3).toDouble())
+                    {
+                        changed = true;
+                    }
+
+                    // Set parameter value
+
                     addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toDouble());
-                    if (changedValues.contains(wpParams.at(1).toInt()))
+
+                    if (changed)
                     {
 
+
                         qDebug() << "PARAM changed contains";
                         if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(1)))
                         {
@@ -403,6 +414,24 @@ void QGCParamWidget::loadParameters()
 
                         // set param to be changed
 //                        QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, column);
+
+                        // Create changed values data structure if necessary
+                        if (!changedValues.contains(wpParams.at(1).toInt()))
+                        {
+                            changedValues.insert(wpParams.at(1).toInt(), new QMap<QString, float>());
+                        }
+
+                        // Add to changed values
+                        if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(2)))
+                        {
+                            changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(2));
+                        }
+
+                        changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), (float)wpParams.at(3).toDouble());
+
+                        qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
+
+                        // Mark in UI
                     }
                 }
             }

waypoints_Amir.txt

@@ -0,0 +1,4 @@
+	0	1.17	0.98	-0.8	0	1	10.1	2000
+	1	0.5	0.98	-0.8	0	1	00.1	2000
+	2	1.1	0.98	-0.8	0	1	00.1	2000
+	3	1.1	1.4	-0.8	0	1	00.1	2000

waypoints_square start land.txt

@@ -0,0 +1,7 @@
+	0	1.1	1.1	-0.8	0	1	1	0.1	5000
+	1	0.7	0.7	-0.8	0	1	0	0.1	3000
+	2	1.5	0.7	-0.8	0	1	0	0.1	3000
+	3	1.5	1.5	-0.8	0	1	0	0.1	3000
+	4	0.7	1.5	-0.8	0	1	0	0.1	3000
+	5	1.1	1.1	-0.8	0	1	0	0.1	5000
+	6	1.1	1.1	0	0	1	0	0.1	2000

waypoints_square.txt

@@ -0,0 +1,4 @@
+	0	0.7	0.7	-0.7	0	1	1	0.2	5000
+	1	1.5	0.7	-0.7	0	1	0	0.2	2000
+	2	1.5	1.5	-0.7	0	1	0	0.2	2000
+	3	0.7	1.5	-0.7	0	1	0	0.2	2000

waypoints_try.txt

@@ -0,0 +1,4 @@
+	0	0.7	0.6	-0.7	0	1	1	0.1	2000
+	1	1.5	0.6	-0.7	0	1	0	0.1	2000
+	2	1.5	1.7	-0.7	0	1	0	0.1	2000
+	3	0.7	1.7	-0.7	0	1	0	0.1	2000