From 911400924e966010365fd7aef048af6cf0c7ac13 Mon Sep 17 00:00:00 2001
From: Cliff Geerdes <cliffsjunk@att.net>
Date: Sat, 19 Sep 2015 18:07:01 -0400
Subject: [PATCH] LP-73 convert BoardRotation to int

---
 .../src/plugins/config/configrevowidget.cpp   | 21 +++++++++++++++++++
 .../gcs/src/plugins/config/configrevowidget.h |  2 +-
 shared/uavobjectdefinition/auxmagsettings.xml |  2 +-
 3 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/ground/gcs/src/plugins/config/configrevowidget.cpp b/ground/gcs/src/plugins/config/configrevowidget.cpp
index 87c1bc29a..efa13e620 100644
--- a/ground/gcs/src/plugins/config/configrevowidget.cpp
+++ b/ground/gcs/src/plugins/config/configrevowidget.cpp
@@ -245,11 +245,23 @@ void ConfigRevoWidget::storeAndClearBoardRotation()
         // Store current aux mag board rotation
         AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
         Q_ASSERT(auxMagSettings);
+<<<<<<< HEAD
         AuxMagSettings::DataFields auxMagData = auxMagSettings->getData();
         auxMagStoredBoardRotation = auxMagData.Orientation;
 
         // Set aux mag board rotation to no rotation
         auxMagData.Orientation = 0.0f;
+=======
+        AuxMagSettings::DataFields auxMagData  = auxMagSettings->getData();
+        auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_YAW]   = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW];
+        auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_ROLL]  = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL];
+        auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_PITCH] = auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH];
+
+        // Set aux mag board rotation to no rotation
+        auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW]    = 0;
+        auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL]   = 0;
+        auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH]  = 0;
+>>>>>>> 2c030f1... LP-73 fix V9 calibration bug and convert BoardRotation to int
         auxMagSettings->setData(auxMagData);
     }
 }
@@ -269,11 +281,20 @@ void ConfigRevoWidget::recallBoardRotation()
         data.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = storedBoardRotation[AttitudeSettings::BOARDROTATION_PITCH];
         attitudeSettings->setData(data);
 
+<<<<<<< HEAD
         // Restore the aux mag board rotation
         AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
         Q_ASSERT(auxMagSettings);
         AuxMagSettings::DataFields auxMagData = auxMagSettings->getData();
         auxMagData.Orientation = auxMagStoredBoardRotation;
+=======
+        AuxMagSettings *auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
+        Q_ASSERT(auxMagSettings);
+        AuxMagSettings::DataFields auxMagData  = auxMagSettings->getData();
+        auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_YAW]   = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_YAW];
+        auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_ROLL]  = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_ROLL];
+        auxMagData.BoardRotation[AuxMagSettings::BOARDROTATION_PITCH] = auxMagStoredBoardRotation[AuxMagSettings::BOARDROTATION_PITCH];
+>>>>>>> 2c030f1... LP-73 fix V9 calibration bug and convert BoardRotation to int
         auxMagSettings->setData(auxMagData);
     }
 }
diff --git a/ground/gcs/src/plugins/config/configrevowidget.h b/ground/gcs/src/plugins/config/configrevowidget.h
index 175832b4b..fb9a4aafa 100644
--- a/ground/gcs/src/plugins/config/configrevowidget.h
+++ b/ground/gcs/src/plugins/config/configrevowidget.h
@@ -64,7 +64,7 @@ private:
 
     // Board rotation store/recall for FC and for aux mag
     qint16 storedBoardRotation[3];
-    float auxMagStoredBoardRotation;
+    qint16 auxMagStoredBoardRotation[3];
     bool isBoardRotationStored;
 
 private slots:
diff --git a/shared/uavobjectdefinition/auxmagsettings.xml b/shared/uavobjectdefinition/auxmagsettings.xml
index 3ebc0545a..f4a4a882d 100644
--- a/shared/uavobjectdefinition/auxmagsettings.xml
+++ b/shared/uavobjectdefinition/auxmagsettings.xml
@@ -5,7 +5,7 @@
         <field name="mag_transform" units="gain" type="float" elementnames="r0c0,r0c1,r0c2,r1c0,r1c1,r1c2,r2c0,r2c1,r2c2"
          defaultvalue="1,0,0,0,1,0,0,0,1"/>
         <field name="MagBiasNullingRate" units="" type="float" elements="1" defaultvalue="0"/>
-        <field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
+        <field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
         <field name="Type" units="" type="enum" elements="1" options="GPSV9,Ext,Flexi" defaultvalue="GPSV9"/>
         <field name="Usage" units="" type="enum" elements="1" options="Both,OnboardOnly,AuxOnly" defaultvalue="Both"/>
         <access gcs="readwrite" flight="readwrite"/>