LogBrowse: improve parameter handling

1. Detect firmware type for loading correct metadata
2. Display default values if applicable

ExtLibs/Mavlink/MAVLinkParam.cs

@@ -82,11 +82,12 @@ private MAVLinkParam()
         /// <param name="name"></param>
         /// <param name="value"></param>
         /// <param name="wiretype"></param>
-        public MAVLinkParam(string name, double value, MAV_PARAM_TYPE wiretype)
+        public MAVLinkParam(string name, double value, MAV_PARAM_TYPE wiretype, decimal? _default_value = null)
         {
             Name = name;
             Type = wiretype;
             Value = value;
+            default_value = _default_value;
         }
 
         /// <summary>

Log/LogBrowse.cs

@@ -667,6 +667,26 @@ private void ResetTreeView(List<string> seenmessagetypes, string VehicleType)
             MainV2.comPort.MAV.param.Clear();
             MainV2.comPort.MAV.param.AddRange(parmdata);
 
+            // If we are not currently connected to a vehicle, then use VehicleType to set CurrentState firmware
+            // (we probably aren't connected to a vehicle when reviewing a log, but if we are, we don't want to override this)
+            if (!MainV2.comPort.BaseStream.IsOpen)
+            {
+                var firmware_lookup = new Dictionary<string, Firmwares>()
+                                {
+                                    {"ArduPlane", Firmwares.ArduPlane},
+                                    {"ArduCopter", Firmwares.ArduCopter2},
+                                    {"Blimp", Firmwares.ArduCopter2},
+                                    {"ArduRover",Firmwares.ArduRover},
+                                    {"ArduSub",Firmwares.ArduSub},
+                                    {"AntennaTracker", Firmwares.ArduTracker}
+                                };
+                var match = firmware_lookup.Where(d => VehicleType.StartsWith(d.Key)).ToArray();
+                if (match.Count() == 1)
+                {
+                    MainV2.comPort.MAV.cs.firmware = match[0].Value;
+                }
+            }
+
             var sorted = new SortedList(dflog.logformat);
             // go through all fmt's
             foreach (DFLog.Label item in sorted.Values)
@@ -3738,32 +3758,33 @@ private void chk_params_CheckedChanged(object sender, EventArgs e)
 
             chk_params.Checked = false;
 
-            var parmdata = logdata.GetEnumeratorType("PARM").Select(a =>
-                new MAVLink.MAVLinkParam(a["Name"], double.Parse(a["Value"], CultureInfo.InvariantCulture),
-                    MAVLink.MAV_PARAM_TYPE.REAL32));
-
-            //Check the list for duplicates and use the latest occurence for value
-            MAVLink.MAVLinkParamList newparamdata = new MAVLink.MAVLinkParamList();
-            foreach (MAVLink.MAVLinkParam sourceItem in parmdata)
+            MAVLink.MAVLinkParamList paramdata = new MAVLink.MAVLinkParamList();
+            bool has_defaults = logdata.dflog.logformat["PARM"].FieldNames.Contains("Default");
+            foreach (var msg in logdata.GetEnumeratorType("PARM"))
             {
-                //Lookup the next item in the target list
-                for (var idx_target = 0; idx_target < newparamdata.Count(); idx_target++)
+                double value = double.Parse(msg["Value"], CultureInfo.InvariantCulture);
+                decimal tmp;
+                decimal? default_value = has_defaults && decimal.TryParse(msg["Default"], out tmp) ? (decimal?)tmp : null;
+                MAVLink.MAVLinkParam sourceItem = new MAVLink.MAVLinkParam(msg["Name"], value, MAVLink.MAV_PARAM_TYPE.REAL32, default_value);
+
+                // Lookup the next item in the target list
+                for (var idx_target = 0; idx_target < paramdata.Count(); idx_target++)
                 {
-                    if (sourceItem.Name == newparamdata[idx_target].Name)
+                    if (sourceItem.Name == paramdata[idx_target].Name)
                     {
-                        //This item is already in the parameters, since source is in time order, it means the value changed
-                        //We can replace the item in the output with this new value
-                        Console.WriteLine("Duplicated item Name:{0} Prev:{1} New:{2}", sourceItem.Name, newparamdata[idx_target].Value, sourceItem.Value);
-                        newparamdata[idx_target] = sourceItem;
+                        // This item is already in the parameters, since source is in time order, it means the value changed.
+                        // We can replace the item in the output with this new value
+                        Console.WriteLine("Duplicated item Name:{0} Prev:{1} New:{2}", sourceItem.Name, paramdata[idx_target].Value, sourceItem.Value);
+                        paramdata[idx_target] = sourceItem;
                         break;
                     }
                 }
-                //item is not in target list, we can add it
-                newparamdata.Add(sourceItem);
+                // The item is not in target list, we can add it
+                paramdata.Add(sourceItem);
             }
 
             MainV2.comPort.MAV.param.Clear();
-            MainV2.comPort.MAV.param.AddRange(newparamdata);
+            MainV2.comPort.MAV.param.AddRange(paramdata);
 
             var frm = new ConfigRawParams().ShowUserControl();
         }