Merge d6275bf into 0f83225

ArduPilot · Nov 19, 2021 · 6cceca8 · 6cceca8
2 parents 0f83225 + d6275bf
commit 6cceca8
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Showing 2 changed files with 49 additions and 14 deletions.
diff --git a/ExtLibs/Mavlink/MAVLinkParamList.cs b/ExtLibs/Mavlink/MAVLinkParamList.cs
@@ -54,6 +54,40 @@ public int TotalReceived
             }
         }
 
+        // Only works if one param from the name list if found, will fail if multiple list items are found
+        // for use in cases of param conversion where the two names will not coexist
+        public MAVLinkParam this[string[] names]
+        {
+            get
+            {
+                MAVLinkParam item = null;
+                foreach (var s in names)
+                {
+                    MAVLinkParam new_item = this[s];
+                    if (new_item != null)
+                    {
+                        if (item != null)
+                        {
+                            // found multiple items in list
+                            return null;
+                        }
+                        item = new_item;
+                    }
+                }
+                return item;
+            }
+
+            set
+            {
+                MAVLinkParam item = this[names];
+                if (item != null)
+                {
+                    item = value;
+                }
+            }
+
+        }
+
         public IEnumerable<string> Keys
         {
             get

diff --git a/GCSViews/ConfigurationView/ConfigHWCompass2.cs b/GCSViews/ConfigurationView/ConfigHWCompass2.cs
@@ -30,17 +30,17 @@ public class CompassDeviceInfo : DeviceInfo
             public CompassDeviceInfo(int index, string ParamName, uint id) : base(index, ParamName, id)
             {
                 //set initial state
-                var id1 = MainV2.comPort.MAV.param["COMPASS_DEV_ID"];
-                var id2 = MainV2.comPort.MAV.param["COMPASS_DEV_ID2"];
-                var id3 = MainV2.comPort.MAV.param["COMPASS_DEV_ID3"];
+                var id1 = MainV2.comPort.MAV.param[new[] { "COMPASS_DEV_ID", "COMPASS1_DEV_ID"}];
+                var id2 = MainV2.comPort.MAV.param[new[] { "COMPASS_DEV_ID2", "COMPASS2_DEV_ID"}];
+                var id3 = MainV2.comPort.MAV.param[new[] { "COMPASS_DEV_ID3", "COMPASS3_DEV_ID"}];
 
-                var idO1 = MainV2.comPort.MAV.param["COMPASS_ORIENT"];
-                var idO2 = MainV2.comPort.MAV.param["COMPASS_ORIENT2"];
-                var idO3 = MainV2.comPort.MAV.param["COMPASS_ORIENT3"];
+                var idO1 = MainV2.comPort.MAV.param[new[] { "COMPASS_ORIENT", "COMPASS1_ORIENT"}];
+                var idO2 = MainV2.comPort.MAV.param[new[] { "COMPASS_ORIENT2", "COMPASS2_ORIENT"}];
+                var idO3 = MainV2.comPort.MAV.param[new[] { "COMPASS_ORIENT3", "COMPASS3_ORIENT"}];
 
-                var idE1 = MainV2.comPort.MAV.param["COMPASS_EXTERNAL"];
-                var idE2 = MainV2.comPort.MAV.param["COMPASS_EXTERN2"];
-                var idE3 = MainV2.comPort.MAV.param["COMPASS_EXTERN3"];
+                var idE1 = MainV2.comPort.MAV.param[new[] { "COMPASS_EXTERNAL", "COMPASS1_EXTERN"}];
+                var idE2 = MainV2.comPort.MAV.param[new[] { "COMPASS_EXTERN2", "COMPASS2_EXTERN"}];
+                var idE3 = MainV2.comPort.MAV.param[new[] { "COMPASS_EXTERN3", "COMPASS3_EXTERN"}];
 
                 if (id1 != null && id1?.Value == id)
                 {
@@ -86,7 +86,7 @@ public ConfigHWCompass2()
         public void Activate()
         {
             // COMPASS_DEV_ID get a list of all connected devices
-            list = MainV2.comPort.MAV.param.Where(a => a.Name.StartsWith("COMPASS_DEV_ID") && a.Value != 0)
+            list = MainV2.comPort.MAV.param.Where(a => a.Name.StartsWith("COMPASS") && a.Name.Contains("DEV_ID") && a.Value != 0)
                 .Select((a, b) => new CompassDeviceInfo(b, a.Name, (uint) a.Value))
                 .OrderBy((a) => a.ParamName).ToList();
 
@@ -121,15 +121,16 @@ public void Activate()
             mavlinkComboBoxfitness.setup(ParameterMetaDataRepository.GetParameterOptionsInt("COMPASS_CAL_FIT",
                 MainV2.comPort.MAV.cs.firmware.ToString()), "COMPASS_CAL_FIT", MainV2.comPort.MAV.param);
 
-            mavlinkCheckBoxUseCompass1.setup(1, 0, "COMPASS_USE", MainV2.comPort.MAV.param);
-            mavlinkCheckBoxUseCompass2.setup(1, 0, "COMPASS_USE2", MainV2.comPort.MAV.param);
-            mavlinkCheckBoxUseCompass3.setup(1, 0, "COMPASS_USE3", MainV2.comPort.MAV.param);
+            mavlinkCheckBoxUseCompass1.setup(1, 0, new[] { "COMPASS_USE", "COMPASS1_USE"}, MainV2.comPort.MAV.param);
+            mavlinkCheckBoxUseCompass2.setup(1, 0, new[] { "COMPASS_USE2", "COMPASS2_USE"}, MainV2.comPort.MAV.param);
+            mavlinkCheckBoxUseCompass3.setup(1, 0, new[] { "COMPASS_USE3", "COMPASS3_USE"}, MainV2.comPort.MAV.param);
 
             CHK_compass_learn.setup(1, 0, "COMPASS_LEARN", MainV2.comPort.MAV.param);
 
             {
                 // set the default items
-                var source = ParameterMetaDataRepository.GetParameterOptionsInt("COMPASS_ORIENT",
+                var orient_param = MainV2.comPort.MAV.param[new[] { "COMPASS_ORIENT", "COMPASS1_ORIENT"}];
+                var source = ParameterMetaDataRepository.GetParameterOptionsInt(orient_param.Name,
                         MainV2.comPort.MAV.cs.firmware.ToString())
                     .Select(a => new KeyValuePair<string, string>(a.Key.ToString(), a.Value)).ToList();
                 Orientation.DataSource = source;