That parental genotypes are important suggests that these are crosses among outbreds. In that case they'd need to be treated as phase-known 4-way crosses. You need to figure out phase first (which is hard if you don't have a map.) And then you'd need to encode the genotypes in a special way (it's briefly explained in the help file for read.cross). Analysis of four-way crosses is not well documented and can be quite tricky. Unfortunately, R/qtl doesn't contain all of the necessary tools for constructing maps with outbred crosses.
karl
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karl