OP-935 Adds Responsiveness sliders to basic stabilization screen.

ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss

@@ -1,18 +1 @@
 /* Windows styles */
-
-QGroupBox {
-    border: 1px solid gray;
-    border-radius: 3px;
-    margin-top: 1ex;
-    padding: 1ex 0px 0px 0px;
-    font-size: 11px;
-    font-weight: bold;
-}
-
-QGroupBox::title {
-    subcontrol-origin: margin;
-    subcontrol-position: top left;
-    left: 7px;
-    top: -1ex;
-    padding: 0px 3px;
-}

ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp

@@ -67,49 +67,49 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     QIcon *icon = new QIcon();
     icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new DefaultHwSettingsWidget(this);
+    qwd  = new DefaultHwSettingsWidget(this);
     ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
 
     icon = new QIcon();
     icon->addFile(":/configgadget/images/vehicle_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/vehicle_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new ConfigVehicleTypeWidget(this);
+    qwd  = new ConfigVehicleTypeWidget(this);
     ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, *icon, QString("Vehicle"));
 
     icon = new QIcon();
     icon->addFile(":/configgadget/images/input_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/input_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new ConfigInputWidget(this);
+    qwd  = new ConfigInputWidget(this);
     ftw->insertTab(ConfigGadgetWidget::input, qwd, *icon, QString("Input"));
 
     icon = new QIcon();
     icon->addFile(":/configgadget/images/output_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/output_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new ConfigOutputWidget(this);
+    qwd  = new ConfigOutputWidget(this);
     ftw->insertTab(ConfigGadgetWidget::output, qwd, *icon, QString("Output"));
 
     icon = new QIcon();
     icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new DefaultAttitudeWidget(this);
+    qwd  = new DefaultAttitudeWidget(this);
     ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
 
     icon = new QIcon();
     icon->addFile(":/configgadget/images/stabilization_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/stabilization_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new ConfigStabilizationWidget(this);
+    qwd  = new ConfigStabilizationWidget(this);
     ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
 
     icon = new QIcon();
     icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new ConfigCameraStabilizationWidget(this);
+    qwd  = new ConfigCameraStabilizationWidget(this);
     ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Camera Stab"));
 
     icon = new QIcon();
     icon->addFile(":/configgadget/images/txpid_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/txpid_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new ConfigTxPIDWidget(this);
+    qwd  = new ConfigTxPIDWidget(this);
     ftw->insertTab(ConfigGadgetWidget::txpid, qwd, *icon, QString("TxPID"));
 
     ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
@@ -117,29 +117,29 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     // Listen to autopilot connection events
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
+    TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
     connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
     connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
 
     // And check whether by any chance we are not already connected
     if (telMngr->isConnected()) {
-        onAutopilotConnect();    
+        onAutopilotConnect();
     }
 
     help = 0;
-    connect(ftw,SIGNAL(currentAboutToShow(int,bool*)), this, SLOT(tabAboutToChange(int,bool*)));
+    connect(ftw, SIGNAL(currentAboutToShow(int, bool *)), this, SLOT(tabAboutToChange(int, bool *)));
 
     // Connect to the PipXStatus object updates
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    oplinkStatusObj = dynamic_cast<UAVDataObject*>(objManager->getObject("OPLinkStatus"));
-    if (oplinkStatusObj != NULL ) {
-        connect(oplinkStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateOPLinkStatus(UAVObject*)));
+    oplinkStatusObj = dynamic_cast<UAVDataObject *>(objManager->getObject("OPLinkStatus"));
+    if (oplinkStatusObj != NULL) {
+        connect(oplinkStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateOPLinkStatus(UAVObject *)));
     } else {
-	qDebug() << "Error: Object is unknown (OPLinkStatus).";
+        qDebug() << "Error: Object is unknown (OPLinkStatus).";
     }
 
     // Create the timer that is used to timeout the connection to the OPLink.
-    oplinkTimeout = new QTimer(this);
+    oplinkTimeout   = new QTimer(this);
     connect(oplinkTimeout, SIGNAL(timeout()), this, SLOT(onOPLinkDisconnect()));
     oplinkConnected = false;
 }
@@ -152,7 +152,7 @@ ConfigGadgetWidget::~ConfigGadgetWidget()
 void ConfigGadgetWidget::startInputWizard()
 {
     ftw->setCurrentIndex(ConfigGadgetWidget::input);
-    ConfigInputWidget* inputWidget = dynamic_cast<ConfigInputWidget*>(ftw->getWidget(ConfigGadgetWidget::input));
+    ConfigInputWidget *inputWidget = dynamic_cast<ConfigInputWidget *>(ftw->getWidget(ConfigGadgetWidget::input));
     Q_ASSERT(inputWidget);
     inputWidget->startInputWizard();
 }
@@ -162,11 +162,12 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
     QWidget::resizeEvent(event);
 }
 
-void ConfigGadgetWidget::onAutopilotDisconnect() {
-
+void ConfigGadgetWidget::onAutopilotDisconnect()
+{
     int selectedIndex = ftw->currentIndex();
 
     QIcon *icon = new QIcon();
+
     icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     QWidget *qwd = new DefaultAttitudeWidget(this);
@@ -176,7 +177,7 @@ void ConfigGadgetWidget::onAutopilotDisconnect() {
     icon = new QIcon();
     icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new DefaultHwSettingsWidget(this);
+    qwd  = new DefaultHwSettingsWidget(this);
     ftw->removeTab(ConfigGadgetWidget::hardware);
     ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
 
@@ -185,20 +186,20 @@ void ConfigGadgetWidget::onAutopilotDisconnect() {
     emit autopilotDisconnected();
 }
 
-void ConfigGadgetWidget::onAutopilotConnect() {
-
-    qDebug()<<"ConfigGadgetWidget onAutopilotConnect";
+void ConfigGadgetWidget::onAutopilotConnect()
+{
+    qDebug() << "ConfigGadgetWidget onAutopilotConnect";
     // First of all, check what Board type we are talking to, and
     // if necessary, remove/add tabs in the config gadget:
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
+    UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
     if (utilMngr) {
         int selectedIndex = ftw->currentIndex();
         int board = utilMngr->getBoardModel();
         if ((board & 0xff00) == 1024) {
             // CopterControl family
 
-            QIcon *icon = new QIcon();
+            QIcon *icon  = new QIcon();
             icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
             icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
             QWidget *qwd = new ConfigCCAttitudeWidget(this);
@@ -208,14 +209,13 @@ void ConfigGadgetWidget::onAutopilotConnect() {
             icon = new QIcon();
             icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
             icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-            qwd = new ConfigCCHWWidget(this);
+            qwd  = new ConfigCCHWWidget(this);
             ftw->removeTab(ConfigGadgetWidget::hardware);
             ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
-
         } else if ((board & 0xff00) == 0x0900) {
             // Revolution family
 
-            QIcon *icon = new QIcon();
+            QIcon *icon  = new QIcon();
             icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
             icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
             QWidget *qwd = new ConfigRevoWidget(this);
@@ -225,35 +225,33 @@ void ConfigGadgetWidget::onAutopilotConnect() {
             icon = new QIcon();
             icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
             icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-            qwd = new ConfigRevoHWWidget(this);
+            qwd  = new ConfigRevoHWWidget(this);
             ftw->removeTab(ConfigGadgetWidget::hardware);
             ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
-
         } else {
-            //Unknown board
+            // Unknown board
             qDebug() << "Unknown board " << board;
         }
-        ftw->setCurrentIndex(selectedIndex);        
+        ftw->setCurrentIndex(selectedIndex);
     }
 
     emit autopilotConnected();
 }
 
-void ConfigGadgetWidget::tabAboutToChange(int i, bool * proceed)
+void ConfigGadgetWidget::tabAboutToChange(int i, bool *proceed)
 {
     Q_UNUSED(i);
     *proceed = true;
-    ConfigTaskWidget * wid = qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
-    if(!wid) {
+    ConfigTaskWidget *wid = qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
+    if (!wid) {
         return;
     }
-    if(wid->isDirty())
-    {
-        int ans=QMessageBox::warning(this,tr("Unsaved changes"),tr("The tab you are leaving has unsaved changes,"
-                                                           "if you proceed they will be lost."
-                                                           "Do you still want to proceed?"),QMessageBox::Yes,QMessageBox::No);
-        if(ans==QMessageBox::No) {
-            *proceed=false;
+    if (wid->isDirty()) {
+        int ans = QMessageBox::warning(this, tr("Unsaved changes"), tr("The tab you are leaving has unsaved changes,"
+                                                                       "if you proceed they will be lost."
+                                                                       "Do you still want to proceed?"), QMessageBox::Yes, QMessageBox::No);
+        if (ans == QMessageBox::No) {
+            *proceed = false;
         } else {
             wid->setDirty(false);
         }
@@ -261,14 +259,13 @@ void ConfigGadgetWidget::tabAboutToChange(int i, bool * proceed)
 }
 
 /*!
-  \brief Called by updates to @OPLinkStatus
-  */
+   \brief Called by updates to @OPLinkStatus
+ */
 void ConfigGadgetWidget::updateOPLinkStatus(UAVObject *)
 {
     // Restart the disconnection timer.
     oplinkTimeout->start(5000);
-    if (!oplinkConnected)
-    {
+    if (!oplinkConnected) {
         qDebug() << "ConfigGadgetWidget onOPLinkConnect";
 
         QIcon *icon = new QIcon();
@@ -281,9 +278,10 @@ void ConfigGadgetWidget::updateOPLinkStatus(UAVObject *)
     }
 }
 
-void ConfigGadgetWidget::onOPLinkDisconnect() {
-	qDebug()<<"ConfigGadgetWidget onOPLinkDisconnect";
-	oplinkTimeout->stop();
-	ftw->removeTab(ConfigGadgetWidget::oplink);
-	oplinkConnected = false;
+void ConfigGadgetWidget::onOPLinkDisconnect()
+{
+    qDebug() << "ConfigGadgetWidget onOPLinkDisconnect";
+    oplinkTimeout->stop();
+    ftw->removeTab(ConfigGadgetWidget::oplink);
+    oplinkConnected = false;
 }

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp

@@ -45,9 +45,10 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     ui->setupUi(this);
 
 
-    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
-    Core::Internal::GeneralSettings* settings = pm->getObject<Core::Internal::GeneralSettings>();
-    if(!settings->useExpertMode()) {
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
+
+    if (!settings->useExpertMode()) {
         ui->saveStabilizationToRAM_6->setVisible(false);
     }
 
@@ -56,18 +57,18 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     realtimeUpdates = new QTimer(this);
     connect(realtimeUpdates, SIGNAL(timeout()), this, SLOT(apply()));
 
-    connect(ui->realTimeUpdates_6, SIGNAL(stateChanged(int)), this, SLOT(realtimeUpdatesSlot(int)));
+    connect(ui->realTimeUpdates_6, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
     addWidget(ui->realTimeUpdates_6);
-    connect(ui->realTimeUpdates_8, SIGNAL(stateChanged(int)), this, SLOT(realtimeUpdatesSlot(int)));
+    connect(ui->realTimeUpdates_8, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
     addWidget(ui->realTimeUpdates_8);
 
-    connect(ui->checkBox_7, SIGNAL(stateChanged(int)), this, SLOT(linkCheckBoxes(int)));
+    connect(ui->checkBox_7, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
     addWidget(ui->checkBox_7);
-    connect(ui->checkBox_2, SIGNAL(stateChanged(int)), this, SLOT(linkCheckBoxes(int)));
+    connect(ui->checkBox_2, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
     addWidget(ui->checkBox_2);
-    connect(ui->checkBox_8, SIGNAL(stateChanged(int)), this, SLOT(linkCheckBoxes(int)));
+    connect(ui->checkBox_8, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
     addWidget(ui->checkBox_8);
-    connect(ui->checkBox_3, SIGNAL(stateChanged(int)), this, SLOT(linkCheckBoxes(int)));
+    connect(ui->checkBox_3, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
     addWidget(ui->checkBox_3);
 
     addWidget(ui->pushButton_2);
@@ -80,7 +81,12 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     addWidget(ui->pushButton_22);
     addWidget(ui->pushButton_23);
 
-    connect(this, SIGNAL(widgetContentsChanged(QWidget*)), this, SLOT(processLinkedWidgets(QWidget*)));
+    addWidget(ui->basicResponsivenessGroupBox);
+    connect(ui->basicResponsivenessGroupBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
+    addWidget(ui->advancedResponsivenessGroupBox);
+    connect(ui->advancedResponsivenessGroupBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
+
+    connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
 
     // Link by default
     ui->checkBox_7->setChecked(true);
@@ -95,100 +101,91 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget()
     // Do nothing
 }
 
-void ConfigStabilizationWidget::realtimeUpdatesSlot(int value)
-{
-    ui->realTimeUpdates_6->setCheckState((Qt::CheckState)value);
-    ui->realTimeUpdates_8->setCheckState((Qt::CheckState)value);
 
-    if(value == Qt::Checked && !realtimeUpdates->isActive()) {
+void ConfigStabilizationWidget::refreshWidgetsValues(UAVObject *o)
+{
+    ConfigTaskWidget::refreshWidgetsValues(o);
+
+    ui->basicResponsivenessGroupBox->setChecked(ui->rateRollKp_3->value() == ui->ratePitchKp_4->value() &&
+                                                ui->rateRollKi_3->value() == ui->ratePitchKi_4->value());
+}
+
+void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
+{
+    ui->realTimeUpdates_6->setChecked(value);
+    ui->realTimeUpdates_8->setChecked(value);
+
+    if (value && !realtimeUpdates->isActive()) {
         realtimeUpdates->start(300);
-    }
-    else if(value == Qt::Unchecked) {
+    } else {
         realtimeUpdates->stop();
     }
 }
 
-void ConfigStabilizationWidget::linkCheckBoxes(int value)
+void ConfigStabilizationWidget::linkCheckBoxes(bool value)
 {
-    if(sender() == ui->checkBox_7) {
-        ui->checkBox_3->setCheckState((Qt::CheckState)value);
-    }
-    else if(sender() == ui->checkBox_3) {
-        ui->checkBox_7->setCheckState((Qt::CheckState)value);
-    }
-    else if(sender( )== ui->checkBox_8) {
-        ui->checkBox_2->setCheckState((Qt::CheckState)value);
-    }
-    else if(sender() == ui->checkBox_2) {
-        ui->checkBox_8->setCheckState((Qt::CheckState)value);
+    if (sender() == ui->checkBox_7) {
+        ui->checkBox_3->setChecked(value);
+    } else if (sender() == ui->checkBox_3) {
+        ui->checkBox_7->setChecked(value);
+    } else if (sender() == ui->checkBox_8) {
+        ui->checkBox_2->setChecked(value);
+    } else if (sender() == ui->checkBox_2) {
+        ui->checkBox_8->setChecked(value);
+    } else if (sender() == ui->basicResponsivenessGroupBox) {
+        ui->advancedResponsivenessGroupBox->setChecked(!value);
+        if(value) {
+            processLinkedWidgets(ui->AttitudeResponsivenessSlider);
+            processLinkedWidgets(ui->RateResponsivenessSlider);
+        }
+    } else if (sender() == ui->advancedResponsivenessGroupBox) {
+        ui->basicResponsivenessGroupBox->setChecked(!value);
     }
 }
 
-void ConfigStabilizationWidget::processLinkedWidgets(QWidget * widget)
+void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
 {
-    if(ui->checkBox_7->checkState()==Qt::Checked)
-    {
-        if(widget== ui->RateRollKp_2)
-        {
+    if (ui->checkBox_7->isChecked()) {
+        if (widget == ui->RateRollKp_2) {
             ui->RatePitchKp->setValue(ui->RateRollKp_2->value());
-        }
-        else if(widget== ui->RateRollKi_2)
-        {
+        } else if (widget == ui->RateRollKi_2) {
             ui->RatePitchKi->setValue(ui->RateRollKi_2->value());
-        }
-        else if(widget== ui->RateRollILimit_2)
-        {
+        } else if (widget == ui->RateRollILimit_2) {
             ui->RatePitchILimit->setValue(ui->RateRollILimit_2->value());
-        }
-        else if(widget== ui->RatePitchKp)
-        {
+        } else if (widget == ui->RatePitchKp) {
             ui->RateRollKp_2->setValue(ui->RatePitchKp->value());
-        }
-        else if(widget== ui->RatePitchKi)
-        {
+        } else if (widget == ui->RatePitchKi) {
             ui->RateRollKi_2->setValue(ui->RatePitchKi->value());
-        }
-        else if(widget== ui->RatePitchILimit)
-        {
+        } else if (widget == ui->RatePitchILimit) {
             ui->RateRollILimit_2->setValue(ui->RatePitchILimit->value());
-        }
-        else if(widget== ui->RollRateKd)
-        {
+        } else if (widget == ui->RollRateKd) {
             ui->PitchRateKd->setValue(ui->RollRateKd->value());
-        }
-        else if(widget== ui->PitchRateKd)
-        {
+        } else if (widget == ui->PitchRateKd) {
             ui->RollRateKd->setValue(ui->PitchRateKd->value());
         }
     }
-    if(ui->checkBox_8->checkState()==Qt::Checked)
-    {
-        if(widget== ui->AttitudeRollKp)
-        {
+
+    if (ui->checkBox_8->isChecked()) {
+        if (widget == ui->AttitudeRollKp) {
             ui->AttitudePitchKp_2->setValue(ui->AttitudeRollKp->value());
-        }
-        else if(widget== ui->AttitudeRollKi)
-        {
+        } else if (widget == ui->AttitudeRollKi) {
             ui->AttitudePitchKi_2->setValue(ui->AttitudeRollKi->value());
-        }
-        else if(widget== ui->AttitudeRollILimit)
-        {
+        } else if (widget == ui->AttitudeRollILimit) {
             ui->AttitudePitchILimit_2->setValue(ui->AttitudeRollILimit->value());
-        }
-        else if(widget== ui->AttitudePitchKp_2)
-        {
+        } else if (widget == ui->AttitudePitchKp_2) {
             ui->AttitudeRollKp->setValue(ui->AttitudePitchKp_2->value());
-        }
-        else if(widget== ui->AttitudePitchKi_2)
-        {
+        } else if (widget == ui->AttitudePitchKi_2) {
             ui->AttitudeRollKi->setValue(ui->AttitudePitchKi_2->value());
-        }
-        else if(widget== ui->AttitudePitchILimit_2)
-        {
+        } else if (widget == ui->AttitudePitchILimit_2) {
             ui->AttitudeRollILimit->setValue(ui->AttitudePitchILimit_2->value());
         }
     }
+
+    if(ui->basicResponsivenessGroupBox->isChecked()) {
+        if (widget == ui->AttitudeResponsivenessSlider) {
+            ui->ratePitchKp_4->setValue(ui->AttitudeResponsivenessSlider->value());
+        } else if (widget == ui->RateResponsivenessSlider) {
+            ui->ratePitchKi_4->setValue(ui->RateResponsivenessSlider->value());
+        }
+    }
 }
-
-
-

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h

@@ -48,9 +48,13 @@ public:
 private:
     Ui_StabilizationWidget *ui;
     QTimer * realtimeUpdates;
+
+protected slots:
+    void refreshWidgetsValues(UAVObject *o = NULL);
+
 private slots:
-    void realtimeUpdatesSlot(int);
-    void linkCheckBoxes(int value);
+    void realtimeUpdatesSlot(bool value);
+    void linkCheckBoxes(bool value);
     void processLinkedWidgets(QWidget*);
 };
 

ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp

@@ -108,30 +108,3 @@ void ConfigTxPIDWidget::saveSettings()
     UAVObject *obj = HwSettings::GetInstance(getObjectManager());
     saveObjectToSD(obj);
 }
-
-void ConfigTxPIDWidget::enableControls(bool enable)
-{
-    /*
-    m_txpid->PID1->setEnabled(enable);
-    m_txpid->PID2->setEnabled(enable);
-    m_txpid->PID3->setEnabled(enable);
-
-    m_txpid->Input1->setEnabled(enable);
-    m_txpid->Input2->setEnabled(enable);
-    m_txpid->Input3->setEnabled(enable);
-
-    m_txpid->MinPID1->setEnabled(enable);
-    m_txpid->MinPID2->setEnabled(enable);
-    m_txpid->MinPID3->setEnabled(enable);
-
-    m_txpid->MaxPID1->setEnabled(enable);
-    m_txpid->MaxPID2->setEnabled(enable);
-    m_txpid->MaxPID3->setEnabled(enable);
-
-    m_txpid->ThrottleMin->setEnabled(enable);
-    m_txpid->ThrottleMax->setEnabled(enable);
-
-    m_txpid->UpdateMode->setEnabled(enable);
-    */
-    ConfigTaskWidget::setEnabled(enable);
-}

ground/openpilotgcs/src/plugins/config/configtxpidwidget.h

@@ -44,7 +44,6 @@ private slots:
     void refreshValues();
     void applySettings();
     void saveSettings();
-    void enableControls(bool enable);
 };
 
 #endif // CONFIGTXPIDWIDGET_H

ground/openpilotgcs/src/plugins/config/inputchannelform.cpp

@@ -4,15 +4,14 @@
 #include "manualcontrolsettings.h"
 #include "gcsreceiver.h"
 
-inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
+inputChannelForm::inputChannelForm(QWidget *parent, bool showlegend) :
     ConfigTaskWidget(parent),
     ui(new Ui::inputChannelForm)
 {
     ui->setupUi(this);
-    
-    //The first time through the loop, keep the legend. All other times, delete it.
-    if(!showlegend)
-    {
+
+    // The first time through the loop, keep the legend. All other times, delete it.
+    if (!showlegend) {
         layout()->removeWidget(ui->legend0);
         layout()->removeWidget(ui->legend1);
         layout()->removeWidget(ui->legend2);
@@ -27,19 +26,18 @@ inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
         delete ui->legend4;
         delete ui->legend5;
         delete ui->legend6;
-
     }
 
-    connect(ui->channelMin,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
-    connect(ui->channelMax,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
-    connect(ui->channelGroup,SIGNAL(currentIndexChanged(int)),this,SLOT(groupUpdated()));
-    connect(ui->channelNeutral,SIGNAL(valueChanged(int)), this, SLOT(neutralUpdated(int)));
+    connect(ui->channelMin, SIGNAL(valueChanged(int)), this, SLOT(minMaxUpdated()));
+    connect(ui->channelMax, SIGNAL(valueChanged(int)), this, SLOT(minMaxUpdated()));
+    connect(ui->channelGroup, SIGNAL(currentIndexChanged(int)), this, SLOT(groupUpdated()));
+    connect(ui->channelNeutral, SIGNAL(valueChanged(int)), this, SLOT(neutralUpdated(int)));
 
     // This is awkward but since we want the UI to be a dropdown but the field is not an enum
     // it breaks the UAUVObject widget relation of the task gadget.  Running the data through
     // a spin box fixes this
-    connect(ui->channelNumberDropdown,SIGNAL(currentIndexChanged(int)),this,SLOT(channelDropdownUpdated(int)));
-    connect(ui->channelNumber,SIGNAL(valueChanged(int)),this,SLOT(channelNumberUpdated(int)));
+    connect(ui->channelNumberDropdown, SIGNAL(currentIndexChanged(int)), this, SLOT(channelDropdownUpdated(int)));
+    connect(ui->channelNumber, SIGNAL(valueChanged(int)), this, SLOT(channelNumberUpdated(int)));
 
     disableMouseWheelEvents();
 }
@@ -54,26 +52,28 @@ void inputChannelForm::setName(QString &name)
 {
     ui->channelName->setText(name);
     QFontMetrics metrics(ui->channelName->font());
-    int width=metrics.width(name)+5;
-    foreach(inputChannelForm * form,parent()->findChildren<inputChannelForm*>())
-    {
-        if(form==this)
+    int width = metrics.width(name) + 5;
+    foreach(inputChannelForm * form, parent()->findChildren<inputChannelForm *>()) {
+        if (form == this) {
             continue;
-        if(form->ui->channelName->minimumSize().width()<width)
-            form->ui->channelName->setMinimumSize(width,0);
-        else
-            width=form->ui->channelName->minimumSize().width();
+        }
+        if (form->ui->channelName->minimumSize().width() < width) {
+            form->ui->channelName->setMinimumSize(width, 0);
+        } else {
+            width = form->ui->channelName->minimumSize().width();
+        }
     }
-    ui->channelName->setMinimumSize(width,0);
+    ui->channelName->setMinimumSize(width, 0);
 }
 
 /**
-  * Update the direction of the slider and boundaries
-  */
+ * Update the direction of the slider and boundaries
+ */
 void inputChannelForm::minMaxUpdated()
 {
     bool reverse = ui->channelMin->value() > ui->channelMax->value();
-    if(reverse) {
+
+    if (reverse) {
         ui->channelNeutral->setMinimum(ui->channelMax->value());
         ui->channelNeutral->setMaximum(ui->channelMin->value());
     } else {
@@ -91,11 +91,11 @@ void inputChannelForm::neutralUpdated(int newval)
 }
 
 /**
-  * Update the channel options based on the selected receiver type
-  *
-  * I fully admit this is terrible practice to embed data within UI
-  * like this.  Open to suggestions. JC 2011-09-07
-  */
+ * Update the channel options based on the selected receiver type
+ *
+ * I fully admit this is terrible practice to embed data within UI
+ * like this.  Open to suggestions. JC 2011-09-07
+ */
 void inputChannelForm::groupUpdated()
 {
     ui->channelNumberDropdown->clear();
@@ -103,7 +103,7 @@ void inputChannelForm::groupUpdated()
 
     quint8 count = 0;
 
-    switch(ui->channelGroup->currentIndex()) {
+    switch (ui->channelGroup->currentIndex()) {
     case -1: // Nothing selected
         count = 0;
         break;
@@ -129,24 +129,25 @@ void inputChannelForm::groupUpdated()
         Q_ASSERT(0);
     }
 
-    for (int i = 0; i < count; i++)
-        ui->channelNumberDropdown->addItem(QString(tr("Chan %1").arg(i+1)));
+    for (int i = 0; i < count; i++) {
+        ui->channelNumberDropdown->addItem(QString(tr("Chan %1").arg(i + 1)));
+    }
 
     ui->channelNumber->setMaximum(count);
     ui->channelNumber->setMinimum(0);
 }
 
 /**
-  * Update the dropdown from the hidden control
-  */
+ * Update the dropdown from the hidden control
+ */
 void inputChannelForm::channelDropdownUpdated(int newval)
 {
     ui->channelNumber->setValue(newval);
 }
 
 /**
-  * Update the hidden control from the dropdown
-  */
+ * Update the hidden control from the dropdown
+ */
 void inputChannelForm::channelNumberUpdated(int newval)
 {
     ui->channelNumberDropdown->setCurrentIndex(newval);

ground/openpilotgcs/src/plugins/config/mixercurve.cpp

@@ -38,7 +38,7 @@ MixerCurve::MixerCurve(QWidget *parent) :
     m_mixerUI->setupUi(this);
 
     // setup some convienence pointers
-    m_curve = m_mixerUI->CurveWidget;
+    m_curve    = m_mixerUI->CurveWidget;
     m_settings = m_mixerUI->CurveSettings;
 
 
@@ -56,10 +56,10 @@ MixerCurve::MixerCurve(QWidget *parent) :
     // wire up our signals
     connect(m_mixerUI->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(CurveTypeChanged()));
     connect(m_mixerUI->ResetCurve, SIGNAL(clicked()), this, SLOT(ResetCurve()));
-    connect(m_mixerUI->PopupCurve, SIGNAL(clicked()),this,SLOT(PopupCurve()));
+    connect(m_mixerUI->PopupCurve, SIGNAL(clicked()), this, SLOT(PopupCurve()));
     connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
     connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettingsTable()));
-    connect(m_settings, SIGNAL(cellChanged(int,int)), this, SLOT(SettingsTableChanged()));
+    connect(m_settings, SIGNAL(cellChanged(int, int)), this, SLOT(SettingsTableChanged()));
     connect(m_mixerUI->CurveMin, SIGNAL(valueChanged(double)), this, SLOT(CurveMinChanged(double)));
     connect(m_mixerUI->CurveMax, SIGNAL(valueChanged(double)), this, SLOT(CurveMaxChanged(double)));
     connect(m_mixerUI->CurveStep, SIGNAL(valueChanged(double)), this, SLOT(GenerateCurve()));
@@ -79,26 +79,26 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
     m_mixerUI->CurveMax->setMaximum(1.0);
 
     switch (m_curveType) {
-        case MixerCurve::MIXERCURVE_THROTTLE:
-        {
-            m_mixerUI->SettingsGroup->setTitle("Throttle Curve");
-            m_curve->setRange(0.0, 1.0);
-            m_mixerUI->CurveMin->setMinimum(0.0);
-            m_mixerUI->CurveMax->setMinimum(0.0);
-            break;
-        }
-        case MixerCurve::MIXERCURVE_PITCH:
-        {
-            m_mixerUI->SettingsGroup->setTitle("Pitch Curve");
-            m_curve->setRange(-1.0, 1.0);            
-            m_mixerUI->CurveMin->setMinimum(-1.0);
-            m_mixerUI->CurveMax->setMinimum(-1.0);
-            break;
-        }
+    case MixerCurve::MIXERCURVE_THROTTLE:
+    {
+        m_mixerUI->SettingsGroup->setTitle("Throttle Curve");
+        m_curve->setRange(0.0, 1.0);
+        m_mixerUI->CurveMin->setMinimum(0.0);
+        m_mixerUI->CurveMax->setMinimum(0.0);
+        break;
+    }
+    case MixerCurve::MIXERCURVE_PITCH:
+    {
+        m_mixerUI->SettingsGroup->setTitle("Pitch Curve");
+        m_curve->setRange(-1.0, 1.0);
+        m_mixerUI->CurveMin->setMinimum(-1.0);
+        m_mixerUI->CurveMax->setMinimum(-1.0);
+        break;
+    }
     }
 
     m_spinDelegate->setRange(m_mixerUI->CurveMin->minimum(), m_mixerUI->CurveMax->maximum());
-    for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++) {
+    for (int i = 0; i < MixerCurveWidget::NODE_NUMELEM; i++) {
         m_settings->setItemDelegateForRow(i, m_spinDelegate);
     }
 
@@ -121,7 +121,7 @@ void MixerCurve::PopupCurve()
     m_mixerUI->SettingsGroup->show();
     m_mixerUI->PopupCurve->hide();
 
-    PopupWidget* popup = new PopupWidget();
+    PopupWidget *popup = new PopupWidget();
     popup->popUp(this);
 
     m_mixerUI->SettingsGroup->hide();
@@ -130,7 +130,7 @@ void MixerCurve::PopupCurve()
 
 void MixerCurve::UpdateCurveUI()
 {
-    //get the user settings
+    // get the user settings
     QString curveType = m_mixerUI->CurveType->currentText();
 
 
@@ -138,7 +138,7 @@ void MixerCurve::UpdateCurveUI()
     m_mixerUI->CurveStep->setMaximum(100.0);
     m_mixerUI->CurveStep->setSingleStep(1.00);
 
-    //set default visible
+    // set default visible
     m_mixerUI->minLabel->setVisible(true);
     m_mixerUI->CurveMin->setVisible(true);
     m_mixerUI->maxLabel->setVisible(false);
@@ -146,8 +146,7 @@ void MixerCurve::UpdateCurveUI()
     m_mixerUI->stepLabel->setVisible(false);
     m_mixerUI->CurveStep->setVisible(false);
 
-    if ( curveType.compare("Flat")==0)
-    {
+    if (curveType.compare("Flat") == 0) {
         m_mixerUI->minLabel->setVisible(false);
         m_mixerUI->CurveMin->setVisible(false);
         m_mixerUI->stepLabel->setVisible(true);
@@ -157,13 +156,11 @@ void MixerCurve::UpdateCurveUI()
         m_mixerUI->CurveStep->setSingleStep(0.01);
         m_mixerUI->CurveStep->setValue(m_mixerUI->CurveMax->value() / 2);
     }
-    if ( curveType.compare("Linear")==0)
-    {
+    if (curveType.compare("Linear") == 0) {
         m_mixerUI->maxLabel->setVisible(true);
         m_mixerUI->CurveMax->setVisible(true);
     }
-    if ( curveType.compare("Step")==0)
-    {
+    if (curveType.compare("Step") == 0) {
         m_mixerUI->maxLabel->setVisible(true);
         m_mixerUI->CurveMax->setVisible(true);
         m_mixerUI->stepLabel->setText("Step at");
@@ -172,8 +169,7 @@ void MixerCurve::UpdateCurveUI()
 
         m_mixerUI->CurveStep->setMinimum(1.0);
     }
-    if ( curveType.compare("Exp")==0)
-    {
+    if (curveType.compare("Exp") == 0) {
         m_mixerUI->maxLabel->setVisible(true);
         m_mixerUI->CurveMax->setVisible(true);
         m_mixerUI->stepLabel->setText("Power");
@@ -182,13 +178,12 @@ void MixerCurve::UpdateCurveUI()
 
         m_mixerUI->CurveStep->setMinimum(1.0);
     }
-    if ( curveType.compare("Log")==0)
-    {
+    if (curveType.compare("Log") == 0) {
         m_mixerUI->maxLabel->setVisible(true);
         m_mixerUI->CurveMax->setVisible(true);
         m_mixerUI->stepLabel->setText("Power");
         m_mixerUI->stepLabel->setVisible(true);
-        m_mixerUI->CurveStep->setVisible(true);        
+        m_mixerUI->CurveStep->setVisible(true);
         m_mixerUI->CurveStep->setMinimum(1.0);
     }
 
@@ -197,61 +192,52 @@ void MixerCurve::UpdateCurveUI()
 
 void MixerCurve::GenerateCurve()
 {
-   double scale;
-   double newValue;
+    double scale;
+    double newValue;
 
-   //get the user settings
-   double value1 = getCurveMin();
-   double value2 = getCurveMax();
-   double value3 = getCurveStep();
+    // get the user settings
+    double value1     = getCurveMin();
+    double value2     = getCurveMax();
+    double value3     = getCurveStep();
 
-   QString CurveType = m_mixerUI->CurveType->currentText();
+    QString CurveType = m_mixerUI->CurveType->currentText();
 
-   QList<double> points;
+    QList<double> points;
 
-   for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++)
-   {
-       scale =((double)i/(double)(MixerCurveWidget::NODE_NUMELEM - 1));
+    for (int i = 0; i < MixerCurveWidget::NODE_NUMELEM; i++) {
+        scale = ((double)i / (double)(MixerCurveWidget::NODE_NUMELEM - 1));
 
-       if ( CurveType.compare("Flat")==0)
-       {
-           points.append(value3);
-       }
-       if ( CurveType.compare("Linear")==0)
-       {
-           newValue =value1 +(scale*(value2-value1));
-           points.append(newValue);
-       }
-       if ( CurveType.compare("Step")==0)
-       {
-           if (scale*100<value3)
-           {
-               points.append(value1);
-           }
-           else
-           {
-               points.append(value2);
-           }
-       }
-       if ( CurveType.compare("Exp")==0)
-       {
-           newValue =value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1));
-           points.append(newValue);
-       }
-       if ( CurveType.compare("Log")==0)
-       {
-           newValue = value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1));
-           points.append(newValue);
-       }
-   }
+        if (CurveType.compare("Flat") == 0) {
+            points.append(value3);
+        }
+        if (CurveType.compare("Linear") == 0) {
+            newValue = value1 + (scale * (value2 - value1));
+            points.append(newValue);
+        }
+        if (CurveType.compare("Step") == 0) {
+            if (scale * 100 < value3) {
+                points.append(value1);
+            } else {
+                points.append(value2);
+            }
+        }
+        if (CurveType.compare("Exp") == 0) {
+            newValue = value1 + (((exp(scale * (value3 / 10)) - 1)) / (exp((value3 / 10)) - 1) * (value2 - value1));
+            points.append(newValue);
+        }
+        if (CurveType.compare("Log") == 0) {
+            newValue = value1 + (((log(scale * (value3 * 2) + 1)) / (log(1 + (value3 * 2)))) * (value2 - value1));
+            points.append(newValue);
+        }
+    }
 
-   setCurve(&points);
+    setCurve(&points);
 }
 
 /**
-  Wrappers for mixercurvewidget.
-  */
-void MixerCurve::initCurve (const QList<double>* points)
+   Wrappers for mixercurvewidget.
+ */
+void MixerCurve::initCurve(const QList<double> *points)
 {
     m_curve->setCurve(points);
     UpdateSettingsTable();
@@ -269,11 +255,12 @@ void MixerCurve::initLinearCurve(int numPoints, double maxValue, double minValue
 
     m_curve->initLinearCurve(numPoints, maxValue, minValue);
 
-    if (m_spinDelegate)
+    if (m_spinDelegate) {
         m_spinDelegate->setRange(minValue, maxValue);
+    }
 }
 
-void MixerCurve::setCurve(const QList<double>* points)
+void MixerCurve::setCurve(const QList<double> *points)
 {
     m_curve->setCurve(points);
     UpdateSettingsTable();
@@ -281,7 +268,7 @@ void MixerCurve::setCurve(const QList<double>* points)
 
 void MixerCurve::setMin(double value)
 {
-    //m_curve->setMin(value);
+    // m_curve->setMin(value);
     m_mixerUI->CurveMin->setMinimum(value);
 }
 
@@ -292,7 +279,7 @@ double MixerCurve::getMin()
 
 void MixerCurve::setMax(double value)
 {
-    //m_curve->setMax(value);
+    // m_curve->setMax(value);
     m_mixerUI->CurveMax->setMaximum(value);
 }
 
@@ -326,11 +313,11 @@ void MixerCurve::UpdateSettingsTable()
     QList<double> points = m_curve->getCurve();
     int ptCnt = points.count();
 
-    for (int i=0; i<ptCnt; i++)
-    {
-        QTableWidgetItem* item = m_settings->item(i, 0);
-        if (item)
-            item->setText(QString().sprintf("%.2f",points.at( (ptCnt - 1) - i )));
+    for (int i = 0; i < ptCnt; i++) {
+        QTableWidgetItem *item = m_settings->item(i, 0);
+        if (item) {
+            item->setText(QString().sprintf("%.2f", points.at((ptCnt - 1) - i)));
+        }
     }
 }
 
@@ -338,12 +325,12 @@ void MixerCurve::SettingsTableChanged()
 {
     QList<double> points;
 
-    for (int i=0; i < m_settings->rowCount(); i++)
-    {
-        QTableWidgetItem* item = m_settings->item(i, 0);
+    for (int i = 0; i < m_settings->rowCount(); i++) {
+        QTableWidgetItem *item = m_settings->item(i, 0);
 
-        if (item)
+        if (item) {
             points.push_front(item->text().toDouble());
+        }
     }
 
     m_mixerUI->CurveMin->setValue(points.first());
@@ -369,7 +356,7 @@ void MixerCurve::CurveMinChanged(double value)
 void MixerCurve::CurveMaxChanged(double value)
 {
     // the max changed so redraw the curve
-    //  mixercurvewidget::setCurve will trim any points above max
+    // mixercurvewidget::setCurve will trim any points above max
     QList<double> points = m_curve->getCurve();
     points.removeLast();
     points.append(value);
@@ -381,23 +368,25 @@ void MixerCurve::showEvent(QShowEvent *event)
     Q_UNUSED(event);
 
     m_settings->resizeColumnsToContents();
-    m_settings->setColumnWidth(0,(m_settings->width()-  m_settings->verticalHeader()->width()));
+    m_settings->setColumnWidth(0, (m_settings->width() - m_settings->verticalHeader()->width()));
 
-    int h = (m_settings->height() -  m_settings->horizontalHeader()->height()) / m_settings->rowCount();
-    for (int i=0; i<m_settings->rowCount(); i++)
+    int h = (m_settings->height() - m_settings->horizontalHeader()->height()) / m_settings->rowCount();
+    for (int i = 0; i < m_settings->rowCount(); i++) {
         m_settings->setRowHeight(i, h);
+    }
 
     m_curve->showEvent(event);
 }
 
-void MixerCurve::resizeEvent(QResizeEvent* event)
+void MixerCurve::resizeEvent(QResizeEvent *event)
 {
     m_settings->resizeColumnsToContents();
-    m_settings->setColumnWidth(0,(m_settings->width() -  m_settings->verticalHeader()->width()));
+    m_settings->setColumnWidth(0, (m_settings->width() - m_settings->verticalHeader()->width()));
 
-    int h = (m_settings->height() -  m_settings->horizontalHeader()->height()) / m_settings->rowCount();
-    for (int i=0; i<m_settings->rowCount(); i++)
+    int h = (m_settings->height() - m_settings->horizontalHeader()->height()) / m_settings->rowCount();
+    for (int i = 0; i < m_settings->rowCount(); i++) {
         m_settings->setRowHeight(i, h);
+    }
 
     m_curve->resizeEvent(event);
 }

ground/openpilotgcs/src/plugins/config/stabilization.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1076</width>
+    <width>1075</width>
     <height>834</height>
    </rect>
   </property>
@@ -589,6 +589,9 @@
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
+         <property name="frameShadow">
+          <enum>QFrame::Sunken</enum>
+         </property>
          <property name="lineWidth">
           <number>0</number>
          </property>
@@ -600,11 +603,2023 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>1046</width>
+            <width>1045</width>
             <height>751</height>
            </rect>
           </property>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
+           <property name="spacing">
+            <number>9</number>
+           </property>
+           <property name="topMargin">
+            <number>9</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="basicResponsivenessGroupBox">
+             <property name="styleSheet">
+              <string notr="true"/>
+             </property>
+             <property name="title">
+              <string>Responsiveness</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_7" rowstretch="0,0">
+              <property name="margin">
+               <number>12</number>
+              </property>
+              <item row="0" column="4">
+               <widget class="QPushButton" name="pushButton">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="0" colspan="4">
+               <spacer name="horizontalSpacer_37">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="0" colspan="5">
+               <widget class="QGroupBox" name="groupBox_7">
+                <property name="styleSheet">
+                 <string>QGroupBox{border: 0px;}</string>
+                </property>
+                <property name="title">
+                 <string/>
+                </property>
+                <property name="flat">
+                 <bool>true</bool>
+                </property>
+                <layout class="QGridLayout" name="gridLayout_10">
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>0</number>
+                 </property>
+                 <item row="0" column="3">
+                  <widget class="QLabel" name="label_143">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
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+                           <blue>14</blue>
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+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>160</red>
+                           <green>6</green>
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+                           <blue>14</blue>
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+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>160</red>
+                           <green>6</green>
+                           <blue>6</blue>
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+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
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+                         <green>255</green>
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+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                       <brush brushstyle="LinearGradientPattern">
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+                         <gradientstop position="0.786070000000000">
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+                         <green>58</green>
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+                       <brush brushstyle="SolidPattern">
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+                         <red>19</red>
+                         <green>19</green>
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+                       <brush brushstyle="SolidPattern">
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+                          <color alpha="255">
+                           <red>200</red>
+                           <green>14</green>
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+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>160</red>
+                           <green>6</green>
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+                        </gradient>
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+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
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+                           <blue>6</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
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+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(200, 14, 14, 255), stop:0.78607 rgba(160	, 6, 6	, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Insane</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label">
+                   <property name="minimumSize">
+                    <size>
+                     <width>78</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="text">
+                    <string>Attitude mode</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_2">
+                   <property name="minimumSize">
+                    <size>
+                     <width>78</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="text">
+                    <string>Rate mode</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="1" colspan="5">
+                  <widget class="QSlider" name="AttitudeResponsivenessSlider">
+                   <property name="minimum">
+                    <number>10</number>
+                   </property>
+                   <property name="maximum">
+                    <number>500</number>
+                   </property>
+                   <property name="singleStep">
+                    <number>1</number>
+                   </property>
+                   <property name="value">
+                    <number>255</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollMax</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="1" colspan="5">
+                  <widget class="QSlider" name="RateYawResponsivenessSlider">
+                   <property name="minimum">
+                    <number>100</number>
+                   </property>
+                   <property name="maximum">
+                    <number>800</number>
+                   </property>
+                   <property name="value">
+                    <number>450</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
+                     <string>element:Yaw</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_5">
+                   <property name="minimumSize">
+                    <size>
+                     <width>78</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="text">
+                    <string>Rate mode yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QSpinBox" name="spinBox_5">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="minimum">
+                    <number>100</number>
+                   </property>
+                   <property name="maximum">
+                    <number>800</number>
+                   </property>
+                   <property name="value">
+                    <number>300</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
+                     <string>element:Yaw</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_15">
              <property name="sizePolicy">
@@ -1157,7 +3172,7 @@
                  <bool>false</bool>
                 </property>
                 <property name="styleSheet">
-                 <string notr="true"/>
+                 <string notr="true">QGroupBox{border: 0px;}</string>
                 </property>
                 <property name="title">
                  <string/>
@@ -1166,569 +3181,15 @@
                  <bool>true</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1,0,1,0,1,0">
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-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
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-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
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-                 <item row="0" column="1">
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-                    </sizepolicy>
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-                     <width>0</width>
-                     <height>16</height>
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-                    <string>Roll</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignCenter</set>
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-                 </item>
+                 <property name="leftMargin">
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+                 </property>
+                 <property name="rightMargin">
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+                 <property name="bottomMargin">
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                  <item row="0" column="2">
                   <spacer name="horizontalSpacer_16">
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@@ -1742,555 +3203,18 @@ border-radius: 5;</string>
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+                    <enum>Qt::Horizontal</enum>
                    </property>
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                     <size>
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-                     <height>16</height>
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-                      </colorrole>
-                      <colorrole role="ButtonText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Base">
-                       <brush brushstyle="LinearGradientPattern">
-                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                         <gradientstop position="0.208955000000000">
-                          <color alpha="255">
-                           <red>74</red>
-                           <green>74</green>
-                           <blue>74</blue>
-                          </color>
-                         </gradientstop>
-                         <gradientstop position="0.786070000000000">
-                          <color alpha="255">
-                           <red>36</red>
-                           <green>36</green>
-                           <blue>36</blue>
-                          </color>
-                         </gradientstop>
-                        </gradient>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Window">
-                       <brush brushstyle="LinearGradientPattern">
-                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                         <gradientstop position="0.208955000000000">
-                          <color alpha="255">
-                           <red>74</red>
-                           <green>74</green>
-                           <blue>74</blue>
-                          </color>
-                         </gradientstop>
-                         <gradientstop position="0.786070000000000">
-                          <color alpha="255">
-                           <red>36</red>
-                           <green>36</green>
-                           <blue>36</blue>
-                          </color>
-                         </gradientstop>
-                        </gradient>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Shadow">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="AlternateBase">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>39</red>
-                         <green>39</green>
-                         <blue>39</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ToolTipBase">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>220</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ToolTipText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                     </disabled>
-                    </palette>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <weight>75</weight>
-                     <bold>true</bold>
-                    </font>
-                   </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;</string>
-                   </property>
-                   <property name="text">
-                    <string>Pitch</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignCenter</set>
-                   </property>
-                  </widget>
+                  </spacer>
                  </item>
                  <item row="0" column="4">
                   <spacer name="horizontalSpacer_20">
@@ -2855,45 +3779,557 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="6">
-                  <spacer name="horizontalSpacer_45">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="0">
-                  <widget class="QLabel" name="label_141">
+                 <item row="0" column="3">
+                  <widget class="QLabel" name="label_139">
                    <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>78</width>
+                     <width>0</width>
                      <height>16</height>
                     </size>
                    </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </active>
+                     <inactive>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </inactive>
+                     <disabled>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
                    <property name="styleSheet">
-                    <string notr="true"/>
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
                    </property>
                    <property name="text">
-                    <string>Proportional</string>
+                    <string>Pitch</string>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="1">
+                 <item row="2" column="1">
                   <widget class="QSlider" name="horizontalSlider_76">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -2947,7 +4383,7 @@ Then lower the value by 5 or so.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="2">
+                 <item row="2" column="2">
                   <widget class="QSpinBox" name="spinBox_7">
                    <property name="minimumSize">
                     <size>
@@ -2986,97 +4422,32 @@ Then lower the value by 5 or so.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="3">
-                  <widget class="QSlider" name="PitchPSlider">
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_141">
                    <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>0</width>
-                     <height>25</height>
+                     <width>78</width>
+                     <height>16</height>
                     </size>
                    </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
-Then lower the value by 5 or so.</string>
-                   </property>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
-                   <property name="maximum">
-                    <number>100</number>
+                   <property name="text">
+                    <string>Proportional</string>
                    </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:0.0001</string>
-                     <string>buttongroup:1,10</string>
-                    </stringlist>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="4">
-                  <widget class="QSpinBox" name="spinBox_PitchRateP">
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
-Then lower the value by 5 or so.</string>
-                   </property>
-                   <property name="maximum">
-                    <number>200</number>
-                   </property>
-                   <property name="value">
-                    <number>200</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:0.0001</string>
-                     <string>buttongroup:1,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="5">
+                 <item row="2" column="5">
                   <widget class="QSlider" name="horizontalSlider_78">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -3127,7 +4498,97 @@ Then lower the value by 5 or so.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="6">
+                 <item row="2" column="3">
+                  <widget class="QSlider" name="PitchPSlider">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QSpinBox" name="spinBox_PitchRateP">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="6">
                   <widget class="QSpinBox" name="spinBox_12">
                    <property name="minimumSize">
                     <size>
@@ -3166,26 +4627,7 @@ Then lower the value by 5 or so.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_145">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Integral</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="1">
+                 <item row="3" column="1">
                   <widget class="QSlider" name="horizontalSlider_79">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -3236,7 +4678,26 @@ value as the Kp.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="2">
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_145">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="2">
                   <widget class="QSpinBox" name="spinBox_8">
                    <property name="minimumSize">
                     <size>
@@ -3275,59 +4736,8 @@ value as the Kp.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="3">
-                  <widget class="QSlider" name="horizontalSlider_80">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>25</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>As a rule of thumb, you can set the Integral at roughly the same
-value as the Kp.</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:Ki</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:0.0001</string>
-                     <string>buttongroup:1,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="4">
-                  <widget class="QSpinBox" name="spinBox_9">
+                 <item row="3" column="6">
+                  <widget class="QSpinBox" name="spinBox_10">
                    <property name="minimumSize">
                     <size>
                      <width>50</width>
@@ -3356,7 +4766,7 @@ value as the Kp.</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
+                     <string>fieldname:YawRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:yes</string>
                      <string>scale:0.0001</string>
@@ -3365,7 +4775,7 @@ value as the Kp.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="5">
+                 <item row="3" column="5">
                   <widget class="QSlider" name="horizontalSlider_81">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -3416,8 +4826,59 @@ value as the Kp.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="6">
-                  <widget class="QSpinBox" name="spinBox_10">
+                 <item row="3" column="3">
+                  <widget class="QSlider" name="horizontalSlider_80">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="4">
+                  <widget class="QSpinBox" name="spinBox_9">
                    <property name="minimumSize">
                     <size>
                      <width>50</width>
@@ -3446,7 +4907,7 @@ value as the Kp.</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawRatePID</string>
+                     <string>fieldname:PitchRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:yes</string>
                      <string>scale:0.0001</string>
@@ -3455,6 +4916,569 @@ value as the Kp.</string>
                    </property>
                   </widget>
                  </item>
+                 <item row="0" column="1">
+                  <widget class="QLabel" name="label_138">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </active>
+                     <inactive>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </inactive>
+                     <disabled>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="6">
+                  <spacer name="horizontalSpacer_45">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
                 </layout>
                </widget>
               </item>
@@ -4510,7 +6534,7 @@ value as the Kp.</string>
                  <bool>false</bool>
                 </property>
                 <property name="styleSheet">
-                 <string notr="true"/>
+                 <string notr="true">QGroupBox{border: 0px;}</string>
                 </property>
                 <property name="title">
                  <string/>
@@ -4519,6 +6543,15 @@ value as the Kp.</string>
                  <bool>true</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1,0,1,0,1,0">
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>0</number>
+                 </property>
                  <item row="0" column="1">
                   <widget class="QLabel" name="label_150">
                    <property name="sizePolicy">
@@ -6978,7 +9011,7 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>1046</width>
+            <width>1045</width>
             <height>751</height>
            </rect>
           </property>
@@ -6986,8 +9019,11 @@ border-radius: 5;</string>
            <bool>true</bool>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
+           <property name="spacing">
+            <number>9</number>
+           </property>
            <property name="margin">
-            <number>12</number>
+            <number>9</number>
            </property>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_8">
@@ -7524,7 +9560,7 @@ border-radius: 5;</string>
               </palette>
              </property>
              <property name="title">
-              <string>Rate Stabization Coefficients (Inner Loop)</string>
+              <string>Rate Stabilization Coefficients (Inner Loop)</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -8033,7 +10069,7 @@ border-radius: 5;</string>
                  <bool>false</bool>
                 </property>
                 <property name="styleSheet">
-                 <string notr="true"/>
+                 <string notr="true">QGroupBox{border: 0px;}</string>
                 </property>
                 <property name="title">
                  <string/>
@@ -8045,8 +10081,11 @@ border-radius: 5;</string>
                  <property name="leftMargin">
                   <number>0</number>
                  </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
                  <property name="bottomMargin">
-                  <number>9</number>
+                  <number>0</number>
                  </property>
                  <item row="3" column="4">
                   <widget class="QDoubleSpinBox" name="PitchRateKd">
@@ -10849,7 +12888,7 @@ Then lower the value by 20% or so.</string>
               <bool>false</bool>
              </property>
              <property name="title">
-              <string>Attitude Stabization Coefficients (Outer Loop)</string>
+              <string>Attitude Stabilization Coefficients (Outer Loop)</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -11358,7 +13397,7 @@ Then lower the value by 20% or so.</string>
                  <bool>false</bool>
                 </property>
                 <property name="styleSheet">
-                 <string notr="true"/>
+                 <string notr="true">QGroupBox{border: 0px;}</string>
                 </property>
                 <property name="title">
                  <string/>
@@ -11370,6 +13409,12 @@ Then lower the value by 20% or so.</string>
                  <property name="leftMargin">
                   <number>0</number>
                  </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>0</number>
+                 </property>
                  <item row="0" column="0">
                   <spacer name="horizontalSpacer_8">
                    <property name="orientation">
@@ -13442,7 +15487,7 @@ border-radius: 5;</string>
             </widget>
            </item>
            <item>
-            <widget class="QGroupBox" name="RateStabilizationGroup_6">
+            <widget class="QGroupBox" name="advancedResponsivenessGroupBox">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                <horstretch>0</horstretch>
@@ -13976,11 +16021,17 @@ border-radius: 5;</string>
               </palette>
              </property>
              <property name="title">
-              <string>Stick Range and Limits</string>
+              <string>Stick Responsiveness</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+             <property name="checked">
+              <bool>false</bool>
+             </property>
              <layout class="QGridLayout" name="gridLayout_18">
               <property name="margin">
                <number>12</number>
@@ -14475,7 +16526,7 @@ border-radius: 5;</string>
                  <bool>false</bool>
                 </property>
                 <property name="styleSheet">
-                 <string notr="true"/>
+                 <string notr="true">QGroupBox{border: 0px;}</string>
                 </property>
                 <property name="title">
                  <string/>
@@ -14487,6 +16538,12 @@ border-radius: 5;</string>
                  <property name="leftMargin">
                   <number>0</number>
                  </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>0</number>
+                 </property>
                  <property name="verticalSpacing">
                   <number>0</number>
                  </property>
@@ -15944,7 +18001,7 @@ border-radius: 5;</string>
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Full stick angle (deg)</string>
+                    <string>Attitude mode response (deg)</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -16746,7 +18803,7 @@ border-radius: 5;</string>
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Full stick rate (deg/s)</string>
+                    <string>Rate mode response (deg/s)</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -16901,13 +18958,16 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>1046</width>
+            <width>1045</width>
             <height>751</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
+           <property name="spacing">
+            <number>9</number>
+           </property>
            <property name="margin">
-            <number>12</number>
+            <number>9</number>
            </property>
            <item>
             <widget class="QGroupBox" name="groupBox_4">
@@ -16986,12 +19046,24 @@ border-radius: 5;</string>
               </item>
               <item row="1" column="0" colspan="2">
                <widget class="QGroupBox" name="groupBox">
+                <property name="styleSheet">
+                 <string>QGroupBox{border: 0px;}</string>
+                </property>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_4">
-                 <property name="margin">
-                  <number>12</number>
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="topMargin">
+                  <number>9</number>
+                 </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>0</number>
                  </property>
                  <item row="0" column="1">
                   <widget class="QLabel" name="label_50">
@@ -19823,6 +21895,9 @@ border-radius: 5;</string>
                   </disabled>
                  </palette>
                 </property>
+                <property name="styleSheet">
+                 <string>QGroupBox{border: 0px;}</string>
+                </property>
                 <property name="title">
                  <string/>
                 </property>
@@ -19830,8 +21905,17 @@ border-radius: 5;</string>
                  <bool>true</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,0,1,0,1,0,1,0">
-                 <property name="margin">
-                  <number>12</number>
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="topMargin">
+                  <number>9</number>
+                 </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>0</number>
                  </property>
                  <item row="1" column="4">
                   <widget class="QDoubleSpinBox" name="RatePitchILimit">
@@ -22962,7 +25046,7 @@ border-radius: 5;</string>
                  <bool>false</bool>
                 </property>
                 <property name="styleSheet">
-                 <string notr="true"/>
+                 <string notr="true">QGroupBox{border: 0px;}</string>
                 </property>
                 <property name="title">
                  <string/>
@@ -22971,8 +25055,17 @@ border-radius: 5;</string>
                  <bool>true</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1,0,1,0,1,0">
-                 <property name="margin">
-                  <number>12</number>
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="topMargin">
+                  <number>9</number>
+                 </property>
+                 <property name="rightMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>0</number>
                  </property>
                  <item row="1" column="2">
                   <spacer name="horizontalSpacer_41">

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp

@@ -32,44 +32,45 @@
 /**
  * Constructor
  */
-ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),allowWidgetUpdates(true),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL)
+ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent), isConnected(false), allowWidgetUpdates(true), smartsave(NULL), dirty(false), outOfLimitsStyle("background-color: rgb(255, 0, 0);"), timeOut(NULL)
 {
     pm = ExtensionSystem::PluginManager::instance();
     objManager = pm->getObject<UAVObjectManager>();
-    TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
-    utilMngr = pm->getObject<UAVObjectUtilManager>();
-    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()),Qt::UniqueConnection);
-    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()),Qt::UniqueConnection);
-    connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()),Qt::UniqueConnection);
-    connect(telMngr, SIGNAL(disconnected()), this, SIGNAL(autoPilotDisconnected()),Qt::UniqueConnection);
-    UAVSettingsImportExportFactory * importexportplugin =  pm->getObject<UAVSettingsImportExportFactory>();
-    connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(invalidateObjects()));
+    TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
+    utilMngr   = pm->getObject<UAVObjectUtilManager>();
+    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()), Qt::UniqueConnection);
+    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()), Qt::UniqueConnection);
+    connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()), Qt::UniqueConnection);
+    connect(telMngr, SIGNAL(disconnected()), this, SIGNAL(autoPilotDisconnected()), Qt::UniqueConnection);
+    UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
+    connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(invalidateObjects()));
 }
 
 /**
  * Add a widget to the dirty detection pool
  * @param widget to add to the detection pool
  */
-void ConfigTaskWidget::addWidget(QWidget * widget)
+void ConfigTaskWidget::addWidget(QWidget *widget)
 {
-    addUAVObjectToWidgetRelation("","",widget);
+    addUAVObjectToWidgetRelation("", "", widget);
 }
 /**
  * Add an object to the management system
  * @param objectName name of the object to add to the management system
  */
-void ConfigTaskWidget::addUAVObject(QString objectName,QList<int> * reloadGroups)
+void ConfigTaskWidget::addUAVObject(QString objectName, QList<int> *reloadGroups)
 {
-    addUAVObjectToWidgetRelation(objectName,"",NULL,0,1,false,reloadGroups);
+    addUAVObjectToWidgetRelation(objectName, "", NULL, 0, 1, false, reloadGroups);
 }
 
 void ConfigTaskWidget::addUAVObject(UAVObject *objectName, QList<int> *reloadGroups)
 {
     QString objstr;
-    if(objectName)
-        objstr=objectName->getName();
-    addUAVObject(objstr, reloadGroups);
 
+    if (objectName) {
+        objstr = objectName->getName();
+    }
+    addUAVObject(objstr, reloadGroups);
 }
 /**
  * Add an UAVObject field to widget relation to the management system
@@ -78,25 +79,29 @@ void ConfigTaskWidget::addUAVObject(UAVObject *objectName, QList<int> *reloadGro
  * @param widget pointer to the widget whitch will display/define the field value
  * @param index index of the field element to add to this relation
  */
-void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, QString index)
+void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index)
 {
-    UAVObject *obj=NULL;
-    UAVObjectField *_field=NULL;
-    obj = objManager->getObject(QString(object));
+    UAVObject *obj = NULL;
+    UAVObjectField *_field = NULL;
+
+    obj    = objManager->getObject(QString(object));
     Q_ASSERT(obj);
     _field = obj->getField(QString(field));
     Q_ASSERT(_field);
-    addUAVObjectToWidgetRelation(object,field,widget,_field->getElementNames().indexOf(index));
+    addUAVObjectToWidgetRelation(object, field, widget, _field->getElementNames().indexOf(index));
 }
 
-void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField * field, QWidget *widget, QString index)
+void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString index)
 {
     QString objstr;
     QString fieldstr;
-    if(obj)
-        objstr=obj->getName();
-    if(field)
-        fieldstr=field->getName();
+
+    if (obj) {
+        objstr = obj->getName();
+    }
+    if (field) {
+        fieldstr = field->getName();
+    }
     addUAVObjectToWidgetRelation(objstr, fieldstr, widget, index);
 }
 /**
@@ -112,38 +117,45 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectFie
  */
 void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString element, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
 {
-    UAVObject *obj=objManager->getObject(QString(object),instID);
+    UAVObject *obj = objManager->getObject(QString(object), instID);
+
     Q_ASSERT(obj);
     UAVObjectField *_field;
-    int index=0;
-    if(!field.isEmpty() && obj)
-    {
+    int index = 0;
+    if (!field.isEmpty() && obj) {
         _field = obj->getField(QString(field));
-        if(!element.isEmpty())
-            index=_field->getElementNames().indexOf(QString(element));
+        if (!element.isEmpty()) {
+            index = _field->getElementNames().indexOf(QString(element));
+        }
     }
-    addUAVObjectToWidgetRelation(object, field, widget,index,scale,isLimited,defaultReloadGroups,instID);
+    addUAVObjectToWidgetRelation(object, field, widget, index, scale, isLimited, defaultReloadGroups, instID);
 }
 
 void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString element, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
 {
     QString objstr;
     QString fieldstr;
-    if(obj)
-        objstr=obj->getName();
-    if(field)
-        fieldstr=field->getName();
+
+    if (obj) {
+        objstr = obj->getName();
+    }
+    if (field) {
+        fieldstr = field->getName();
+    }
     addUAVObjectToWidgetRelation(objstr, fieldstr, widget, element, scale, isLimited, defaultReloadGroups, instID);
 }
-void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject * obj,UAVObjectField * field, QWidget * widget, int index,double scale,bool isLimited,QList<int>* defaultReloadGroups, quint32 instID)
+void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, int index, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
 {
     QString objstr;
     QString fieldstr;
-    if(obj)
-        objstr=obj->getName();
-    if(field)
-        fieldstr=field->getName();
-    addUAVObjectToWidgetRelation(objstr,fieldstr,widget,index,scale,isLimited,defaultReloadGroups,instID);
+
+    if (obj) {
+        objstr = obj->getName();
+    }
+    if (field) {
+        fieldstr = field->getName();
+    }
+    addUAVObjectToWidgetRelation(objstr, fieldstr, widget, index, scale, isLimited, defaultReloadGroups, instID);
 }
 
 /**
@@ -157,63 +169,55 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(UAVObject * obj,UAVObjectFie
  * @param defaultReloadGroups default and reload groups this relation belongs to
  * @param instID instance ID of the object used on this relation
  */
-void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, int index,double scale,bool isLimited,QList<int>* defaultReloadGroups, quint32 instID)
+void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited, QList<int> *defaultReloadGroups, quint32 instID)
 {
-    if(addShadowWidget(object,field,widget,index,scale,isLimited,defaultReloadGroups,instID))
+    if (addShadowWidget(object, field, widget, index, scale, isLimited, defaultReloadGroups, instID)) {
         return;
-
-    UAVObject *obj=NULL;
-    UAVObjectField *_field=NULL;
-    if(!object.isEmpty())
-    {
-        obj = objManager->getObject(QString(object),instID);
-        Q_ASSERT(obj);
-        objectUpdates.insert(obj,true);
-        connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
-        connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
     }
-    if(!field.isEmpty() && obj)
+
+    UAVObject *obj = NULL;
+    UAVObjectField *_field = NULL;
+    if (!object.isEmpty()) {
+        obj = objManager->getObject(QString(object), instID);
+        Q_ASSERT(obj);
+        objectUpdates.insert(obj, true);
+        connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objectUpdated(UAVObject *)));
+        connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)), Qt::UniqueConnection);
+    }
+    if (!field.isEmpty() && obj) {
         _field = obj->getField(QString(field));
-    objectToWidget * ow=new objectToWidget();
-    ow->field=_field;
-    ow->object=obj;
-    ow->widget=widget;
-    ow->index=index;
-    ow->scale=scale;
-    ow->isLimited=isLimited;
+    }
+    objectToWidget *ow = new objectToWidget();
+    ow->field     = _field;
+    ow->object    = obj;
+    ow->widget    = widget;
+    ow->index     = index;
+    ow->scale     = scale;
+    ow->isLimited = isLimited;
     objOfInterest.append(ow);
-    if(obj)
-    {
-        if(smartsave)
-        {
-            smartsave->addObject((UAVDataObject*)obj);
+    if (obj) {
+        if (smartsave) {
+            smartsave->addObject((UAVDataObject *)obj);
         }
     }
-    if(widget==NULL)
-    {
-        if(defaultReloadGroups && obj)
-        {
-            foreach(int i,*defaultReloadGroups)
-            {
-                if(this->defaultReloadGroups.contains(i))
-                {
+    if (widget == NULL) {
+        if (defaultReloadGroups && obj) {
+            foreach(int i, *defaultReloadGroups) {
+                if (this->defaultReloadGroups.contains(i)) {
                     this->defaultReloadGroups.value(i)->append(ow);
-                }
-                else
-                {
-                    this->defaultReloadGroups.insert(i,new QList<objectToWidget*>());
+                } else {
+                    this->defaultReloadGroups.insert(i, new QList<objectToWidget *>());
                     this->defaultReloadGroups.value(i)->append(ow);
                 }
             }
         }
-    }
-    else
-    {
-        connectWidgetUpdatesToSlot(widget,SLOT(widgetsContentsChanged()));
-        if(defaultReloadGroups)
-            addWidgetToDefaultReloadGroups(widget,defaultReloadGroups);
-        shadowsList.insert(widget,ow);
-        loadWidgetLimits(widget,_field,index,isLimited,scale);
+    } else {
+        connectWidgetUpdatesToSlot(widget, SLOT(widgetsContentsChanged()));
+        if (defaultReloadGroups) {
+            addWidgetToDefaultReloadGroups(widget, defaultReloadGroups);
+        }
+        shadowsList.insert(widget, ow);
+        loadWidgetLimits(widget, _field, index, isLimited, scale);
     }
 }
 /**
@@ -221,20 +225,20 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
  */
 ConfigTaskWidget::~ConfigTaskWidget()
 {
-    if(smartsave)
+    if (smartsave) {
         delete smartsave;
-    foreach(QList<objectToWidget*>* pointer,defaultReloadGroups.values())
-    {
-        if(pointer)
+    }
+    foreach(QList<objectToWidget *> *pointer, defaultReloadGroups.values()) {
+        if (pointer) {
             delete pointer;
+        }
     }
-    foreach (objectToWidget* oTw, objOfInterest)
-    {
-        if(oTw)
+    foreach(objectToWidget * oTw, objOfInterest) {
+        if (oTw) {
             delete oTw;
+        }
     }
-    if(timeOut)
-    {
+    if (timeOut) {
         delete timeOut;
         timeOut = NULL;
     }
@@ -245,7 +249,8 @@ void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
     // saveObjectToSD is now handled by the UAVUtils plugin in one
     // central place (and one central queue)
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
+    UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
+
     utilMngr->saveObjectToSD(obj);
 }
 
@@ -253,9 +258,11 @@ void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
  * Util function to get a pointer to the object manager
  * @return pointer to the UAVObjectManager
  */
-UAVObjectManager* ConfigTaskWidget::getObjectManager() {
+UAVObjectManager *ConfigTaskWidget::getObjectManager()
+{
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
+    UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();
+
     Q_ASSERT(objMngr);
     return objMngr;
 }
@@ -267,8 +274,10 @@ UAVObjectManager* ConfigTaskWidget::getObjectManager() {
 double ConfigTaskWidget::listMean(QList<double> list)
 {
     double accum = 0;
-    for(int i = 0; i < list.size(); i++)
+
+    for (int i = 0; i < list.size(); i++) {
         accum += list[i];
+    }
     return accum / list.size();
 }
 
@@ -280,15 +289,17 @@ double ConfigTaskWidget::listMean(QList<double> list)
 double ConfigTaskWidget::listVar(QList<double> list)
 {
     double mean_accum = 0;
-    double var_accum = 0;
+    double var_accum  = 0;
     double mean;
 
-    for(int i = 0; i < list.size(); i++)
+    for (int i = 0; i < list.size(); i++) {
         mean_accum += list[i];
+    }
     mean = mean_accum / list.size();
 
-    for(int i = 0; i < list.size(); i++)
+    for (int i = 0; i < list.size(); i++) {
         var_accum += (list[i] - mean) * (list[i] - mean);
+    }
 
     // Use unbiased estimator
     return var_accum / (list.size() - 1);
@@ -299,26 +310,26 @@ double ConfigTaskWidget::listVar(QList<double> list)
 
 void ConfigTaskWidget::onAutopilotDisconnect()
 {
-    isConnected=false;
+    isConnected = false;
     enableControls(false);
     invalidateObjects();
 }
 
-void ConfigTaskWidget::forceConnectedState()//dynamic widgets don't recieve the connected signal. This should be called instead.
+void ConfigTaskWidget::forceConnectedState() // dynamic widgets don't recieve the connected signal. This should be called instead.
 {
-    isConnected=true;
+    isConnected = true;
     setDirty(false);
 }
 
 void ConfigTaskWidget::onAutopilotConnect()
 {
-    if (utilMngr)
-        currentBoard = utilMngr->getBoardModel();//TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
+    if (utilMngr) {
+        currentBoard = utilMngr->getBoardModel(); // TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
+    }
     invalidateObjects();
-    isConnected=true;
-    foreach(objectToWidget * ow,objOfInterest)
-    {
-        loadWidgetLimits(ow->widget,ow->field,ow->index,ow->isLimited,ow->scale);
+    isConnected = true;
+    foreach(objectToWidget * ow, objOfInterest) {
+        loadWidgetLimits(ow->widget, ow->field, ow->index, ow->isLimited, ow->scale);
     }
     setDirty(false);
     enableControls(true);
@@ -330,16 +341,15 @@ void ConfigTaskWidget::onAutopilotConnect()
  */
 void ConfigTaskWidget::populateWidgets()
 {
-    bool dirtyBack=dirty;
+    bool dirtyBack = dirty;
     emit populateWidgetsRequested();
-    foreach(objectToWidget * ow,objOfInterest)
-    {
-        if(ow->object==NULL || ow->field==NULL || ow->widget==NULL)
-        {
+
+    foreach(objectToWidget * ow, objOfInterest) {
+        if (ow->object == NULL || ow->field == NULL || ow->widget == NULL) {
             // do nothing
+        } else {
+            setWidgetFromField(ow->widget, ow->field, ow->index, ow->scale, ow->isLimited);
         }
-        else
-            setWidgetFromField(ow->widget,ow->field,ow->index,ow->scale,ow->isLimited);
     }
     setDirty(dirtyBack);
 }
@@ -348,28 +358,24 @@ void ConfigTaskWidget::populateWidgets()
  * object field added to the framework pool
  * Overwrite this if you need to change the default behavior
  */
-void ConfigTaskWidget::refreshWidgetsValues(UAVObject * obj)
+void ConfigTaskWidget::refreshWidgetsValues(UAVObject *obj)
 {
-    if (!allowWidgetUpdates)
+    if (!allowWidgetUpdates) {
         return;
+    }
 
-    bool dirtyBack=dirty;
+    bool dirtyBack = dirty;
     emit refreshWidgetsValuesRequested();
-    foreach(objectToWidget * ow,objOfInterest)
-    {
-        if(ow->object==NULL || ow->field==NULL || ow->widget==NULL)
-        {
-            //do nothing
+    foreach(objectToWidget * ow, objOfInterest) {
+        if (ow->object == NULL || ow->field == NULL || ow->widget == NULL) {
+            // do nothing
+        } else {
+            if (ow->object == obj || obj == NULL) {
+                setWidgetFromField(ow->widget, ow->field, ow->index, ow->scale, ow->isLimited);
+            }
         }
-        else
-        {
-            if(ow->object==obj || obj==NULL)
-                setWidgetFromField(ow->widget,ow->field,ow->index,ow->scale,ow->isLimited);
-        }
-
     }
     setDirty(dirtyBack);
-
 }
 /**
  * SLOT function used to update the uavobject fields from widgets with relation to
@@ -379,15 +385,11 @@ void ConfigTaskWidget::refreshWidgetsValues(UAVObject * obj)
 void ConfigTaskWidget::updateObjectsFromWidgets()
 {
     emit updateObjectsFromWidgetsRequested();
-    foreach(objectToWidget * ow,objOfInterest)
-    {
-        if(ow->object==NULL || ow->field==NULL)
-        {
 
+    foreach(objectToWidget * ow, objOfInterest) {
+        if (ow->object == NULL || ow->field == NULL) {} else {
+            setFieldFromWidget(ow->widget, ow->field, ow->index, ow->scale);
         }
-        else
-            setFieldFromWidget(ow->widget,ow->field,ow->index,ow->scale);
-
     }
 }
 /**
@@ -396,9 +398,11 @@ void ConfigTaskWidget::updateObjectsFromWidgets()
  */
 void ConfigTaskWidget::helpButtonPressed()
 {
-    QString url=helpButtonList.value((QPushButton*)sender(),QString());
-    if(!url.isEmpty())
-        QDesktopServices::openUrl( QUrl(url, QUrl::StrictMode) );
+    QString url = helpButtonList.value((QPushButton *)sender(), QString());
+
+    if (!url.isEmpty()) {
+        QDesktopServices::openUrl(QUrl(url, QUrl::StrictMode));
+    }
 }
 /**
  * Add update and save buttons to the form
@@ -408,25 +412,23 @@ void ConfigTaskWidget::helpButtonPressed()
  */
 void ConfigTaskWidget::addApplySaveButtons(QPushButton *update, QPushButton *save)
 {
-    if(!smartsave)
-    {
-        smartsave=new smartSaveButton();
-        connect(smartsave,SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets()));
-        connect(smartsave,SIGNAL(saveSuccessfull()),this,SLOT(clearDirty()));
-        connect(smartsave,SIGNAL(beginOp()),this,SLOT(disableObjUpdates()));
-        connect(smartsave,SIGNAL(endOp()),this,SLOT(enableObjUpdates()));
+    if (!smartsave) {
+        smartsave = new smartSaveButton();
+        connect(smartsave, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets()));
+        connect(smartsave, SIGNAL(saveSuccessfull()), this, SLOT(clearDirty()));
+        connect(smartsave, SIGNAL(beginOp()), this, SLOT(disableObjUpdates()));
+        connect(smartsave, SIGNAL(endOp()), this, SLOT(enableObjUpdates()));
     }
-    if(update && save)
-        smartsave->addButtons(save,update);
-    else if (update)
+    if (update && save) {
+        smartsave->addButtons(save, update);
+    } else if (update) {
         smartsave->addApplyButton(update);
-    else if (save)
+    } else if (save) {
         smartsave->addSaveButton(save);
-    if(objOfInterest.count()>0)
-    {
-        foreach(objectToWidget * oTw,objOfInterest)
-        {
-            smartsave->addObject((UAVDataObject*)oTw->object);
+    }
+    if (objOfInterest.count() > 0) {
+        foreach(objectToWidget * oTw, objOfInterest) {
+            smartsave->addObject((UAVDataObject *)oTw->object);
         }
     }
     updateEnableControls();
@@ -439,18 +441,18 @@ void ConfigTaskWidget::addApplySaveButtons(QPushButton *update, QPushButton *sav
  */
 void ConfigTaskWidget::enableControls(bool enable)
 {
-    if(smartsave) {
+    if (smartsave) {
         smartsave->enableControls(enable);
     }
 
-    foreach (QPushButton *button, reloadButtonList) {
+    foreach(QPushButton * button, reloadButtonList) {
         button->setEnabled(enable);
     }
 
-    foreach(objectToWidget *ow,objOfInterest) {
-        if(ow->widget) {
+    foreach(objectToWidget * ow, objOfInterest) {
+        if (ow->widget) {
             ow->widget->setEnabled(enable);
-            foreach (shadow *sh, ow->shadowsList) {
+            foreach(shadow * sh, ow->shadowsList) {
                 sh->widget->setEnabled(enable);
             }
         }
@@ -462,16 +464,13 @@ void ConfigTaskWidget::enableControls(bool enable)
  */
 void ConfigTaskWidget::forceShadowUpdates()
 {
-    foreach(objectToWidget * oTw,objOfInterest)
-    {
-        foreach (shadow * sh, oTw->shadowsList)
-        {
-            disconnectWidgetUpdatesToSlot((QWidget*)sh->widget, SLOT(widgetsContentsChanged()));
+    foreach(objectToWidget * oTw, objOfInterest) {
+        foreach(shadow * sh, oTw->shadowsList) {
+            disconnectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged()));
             checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget(oTw->widget, oTw->scale, oTw->getUnits()), sh->scale);
             setWidgetFromVariant(sh->widget, getVariantFromWidget(oTw->widget, oTw->scale, oTw->getUnits()), sh->scale);
-            emit widgetContentsChanged((QWidget*)sh->widget);
-            connectWidgetUpdatesToSlot((QWidget*)sh->widget, SLOT(widgetsContentsChanged()));
-
+            emit widgetContentsChanged((QWidget *)sh->widget);
+            connectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged()));
         }
     }
     setDirty(true);
@@ -481,49 +480,44 @@ void ConfigTaskWidget::forceShadowUpdates()
  */
 void ConfigTaskWidget::widgetsContentsChanged()
 {
-    emit widgetContentsChanged((QWidget*)sender());
+    emit widgetContentsChanged((QWidget *)sender());
     double scale;
-    objectToWidget * oTw= shadowsList.value((QWidget*)sender(),NULL);
-    if(oTw)
-    {
-        if(oTw->widget==(QWidget*)sender())
-        {
-            scale=oTw->scale;
-            checkWidgetsLimits((QWidget*)sender(), oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget*)sender(), oTw->scale, oTw->getUnits()), oTw->scale);
-        }
-        else
-        {
-            foreach (shadow * sh, oTw->shadowsList)
-            {
-                if(sh->widget==(QWidget*)sender())
-                {
-                    scale=sh->scale;
-                    checkWidgetsLimits((QWidget*)sender(), oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), scale);
+    objectToWidget *oTw = shadowsList.value((QWidget *)sender(), NULL);
+
+    if (oTw) {
+        if (oTw->widget == (QWidget *)sender()) {
+            scale = oTw->scale;
+            checkWidgetsLimits((QWidget *)sender(), oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget *)sender(),
+                                                                                                                 oTw->scale, oTw->getUnits()), oTw->scale);
+        } else {
+            foreach(shadow * sh, oTw->shadowsList) {
+                if (sh->widget == (QWidget *)sender()) {
+                    scale = sh->scale;
+                    checkWidgetsLimits((QWidget *)sender(), oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget *)sender(),
+                                                                                                                        scale, oTw->getUnits()), scale);
                 }
             }
         }
-        if(oTw->widget!=(QWidget *)sender())
-        {
-            disconnectWidgetUpdatesToSlot((QWidget*)oTw->widget, SLOT(widgetsContentsChanged()));
-            checkWidgetsLimits(oTw->widget, oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), oTw->scale);
-            setWidgetFromVariant(oTw->widget, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), oTw->scale);
-            emit widgetContentsChanged((QWidget*)oTw->widget);
-            connectWidgetUpdatesToSlot((QWidget*)oTw->widget, SLOT(widgetsContentsChanged()));
+        if (oTw->widget != (QWidget *)sender()) {
+            disconnectWidgetUpdatesToSlot((QWidget *)oTw->widget, SLOT(widgetsContentsChanged()));
+            checkWidgetsLimits(oTw->widget, oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), oTw->scale);
+            setWidgetFromVariant(oTw->widget, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), oTw->scale);
+            emit widgetContentsChanged((QWidget *)oTw->widget);
+            connectWidgetUpdatesToSlot((QWidget *)oTw->widget, SLOT(widgetsContentsChanged()));
         }
-        foreach (shadow * sh, oTw->shadowsList)
-        {
-            if(sh->widget!=(QWidget*)sender())
-            {
-                disconnectWidgetUpdatesToSlot((QWidget*)sh->widget,SLOT(widgetsContentsChanged()));
-                checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), sh->scale);
-                setWidgetFromVariant(sh->widget, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), sh->scale);
-                emit widgetContentsChanged((QWidget*)sh->widget);
-                connectWidgetUpdatesToSlot((QWidget*)sh->widget,SLOT(widgetsContentsChanged()));
+        foreach(shadow * sh, oTw->shadowsList) {
+            if (sh->widget != (QWidget *)sender()) {
+                disconnectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged()));
+                checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), sh->scale);
+                setWidgetFromVariant(sh->widget, getVariantFromWidget((QWidget *)sender(), scale, oTw->getUnits()), sh->scale);
+                emit widgetContentsChanged((QWidget *)sh->widget);
+                connectWidgetUpdatesToSlot((QWidget *)sh->widget, SLOT(widgetsContentsChanged()));
             }
         }
     }
-    if(smartsave)
+    if (smartsave) {
         smartsave->resetIcons();
+    }
     setDirty(true);
 }
 /**
@@ -539,7 +533,7 @@ void ConfigTaskWidget::clearDirty()
  */
 void ConfigTaskWidget::setDirty(bool value)
 {
-    dirty=value;
+    dirty = value;
 }
 /**
  * Checks if the form is dirty (unsaved changes)
@@ -547,10 +541,11 @@ void ConfigTaskWidget::setDirty(bool value)
  */
 bool ConfigTaskWidget::isDirty()
 {
-    if(isConnected)
+    if (isConnected) {
         return dirty;
-    else
+    } else {
         return false;
+    }
 }
 /**
  * SLOT function used to disable widget contents changes when related object field changes
@@ -558,9 +553,10 @@ bool ConfigTaskWidget::isDirty()
 void ConfigTaskWidget::disableObjUpdates()
 {
     allowWidgetUpdates = false;
-    foreach(objectToWidget * obj,objOfInterest)
-    {
-        if(obj->object)disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
+    foreach(objectToWidget * obj, objOfInterest) {
+        if (obj->object) {
+            disconnect(obj->object, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)));
+        }
     }
 }
 /**
@@ -569,10 +565,10 @@ void ConfigTaskWidget::disableObjUpdates()
 void ConfigTaskWidget::enableObjUpdates()
 {
     allowWidgetUpdates = true;
-    foreach(objectToWidget * obj,objOfInterest)
-    {
-        if(obj->object)
-            connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
+    foreach(objectToWidget * obj, objOfInterest) {
+        if (obj->object) {
+            connect(obj->object, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshWidgetsValues(UAVObject *)), Qt::UniqueConnection);
+        }
     }
 }
 /**
@@ -581,7 +577,7 @@ void ConfigTaskWidget::enableObjUpdates()
  */
 void ConfigTaskWidget::objectUpdated(UAVObject *obj)
 {
-    objectUpdates[obj]=true;
+    objectUpdates[obj] = true;
 }
 /**
  * Checks if all objects added to the pool have already been updated
@@ -589,13 +585,12 @@ void ConfigTaskWidget::objectUpdated(UAVObject *obj)
  */
 bool ConfigTaskWidget::allObjectsUpdated()
 {
-    qDebug()<<"ConfigTaskWidge:allObjectsUpdated called";
-    bool ret=true;
-    foreach(UAVObject *obj, objectUpdates.keys())
-    {
-        ret=ret & objectUpdates[obj];
+    qDebug() << "ConfigTaskWidge:allObjectsUpdated called";
+    bool ret = true;
+    foreach(UAVObject * obj, objectUpdates.keys()) {
+        ret = ret & objectUpdates[obj];
     }
-    qDebug()<<"Returned:"<<ret;
+    qDebug() << "Returned:" << ret;
     return ret;
 }
 /**
@@ -605,18 +600,16 @@ bool ConfigTaskWidget::allObjectsUpdated()
  */
 void ConfigTaskWidget::addHelpButton(QPushButton *button, QString url)
 {
-    helpButtonList.insert(button,url);
-    connect(button,SIGNAL(clicked()),this,SLOT(helpButtonPressed()));
-
+    helpButtonList.insert(button, url);
+    connect(button, SIGNAL(clicked()), this, SLOT(helpButtonPressed()));
 }
 /**
  * Invalidates all the uav objects "is updated" flag
  */
 void ConfigTaskWidget::invalidateObjects()
 {
-    foreach(UAVObject *obj, objectUpdates.keys())
-    {
-        objectUpdates[obj]=false;
+    foreach(UAVObject * obj, objectUpdates.keys()) {
+        objectUpdates[obj] = false;
     }
 }
 /**
@@ -624,16 +617,18 @@ void ConfigTaskWidget::invalidateObjects()
  */
 void ConfigTaskWidget::apply()
 {
-    if(smartsave)
+    if (smartsave) {
         smartsave->apply();
+    }
 }
 /**
  * SLOT call this to save changes to uav objects
  */
 void ConfigTaskWidget::save()
 {
-    if(smartsave)
+    if (smartsave) {
         smartsave->save();
+    }
 }
 /**
  * Adds a new shadow widget
@@ -641,50 +636,47 @@ void ConfigTaskWidget::save()
  * This function doesn't have to be used directly, addUAVObjectToWidgetRelation will call it if a previous relation exhists.
  * @return returns false if the shadow widget relation failed to be added (no previous relation exhisted)
  */
-bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited,QList<int>* defaultReloadGroups,quint32 instID)
+bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *widget, int index, double scale, bool isLimited,
+                                       QList<int> *defaultReloadGroups, quint32 instID)
 {
-    foreach(objectToWidget * oTw,objOfInterest)
-    {
-        if(!oTw->object || !oTw->widget || !oTw->field)
+    foreach(objectToWidget * oTw, objOfInterest) {
+        if (!oTw->object || !oTw->widget || !oTw->field) {
             continue;
-        if(oTw->object->getName()==object && oTw->field->getName()==field && oTw->index==index && oTw->object->getInstID()==instID)
-        {
-            shadow * sh=NULL;
-            //prefer anything else to QLabel
-            if(qobject_cast<QLabel *>(oTw->widget) && !qobject_cast<QLabel *>(widget))
-            {
-                sh=new shadow;
-                sh->isLimited=oTw->isLimited;
-                sh->scale=oTw->scale;
-                sh->widget=oTw->widget;
-                oTw->isLimited=isLimited;
-                oTw->scale=scale;
-                oTw->widget=widget;
+        }
+        if (oTw->object->getName() == object && oTw->field->getName() == field && oTw->index == index && oTw->object->getInstID() == instID) {
+            shadow *sh = NULL;
+            // prefer anything else to QLabel
+            if (qobject_cast<QLabel *>(oTw->widget) && !qobject_cast<QLabel *>(widget)) {
+                sh = new shadow;
+                sh->isLimited  = oTw->isLimited;
+                sh->scale      = oTw->scale;
+                sh->widget     = oTw->widget;
+                oTw->isLimited = isLimited;
+                oTw->scale     = scale;
+                oTw->widget    = widget;
             }
-            //prefer QDoubleSpinBox to anything else
-            else if(!qobject_cast<QDoubleSpinBox *>(oTw->widget) && qobject_cast<QDoubleSpinBox *>(widget))
-            {
-                sh=new shadow;
-                sh->isLimited=oTw->isLimited;
-                sh->scale=oTw->scale;
-                sh->widget=oTw->widget;
-                oTw->isLimited=isLimited;
-                oTw->scale=scale;
-                oTw->widget=widget;
+            // prefer QDoubleSpinBox to anything else
+            else if (!qobject_cast<QDoubleSpinBox *>(oTw->widget) && qobject_cast<QDoubleSpinBox *>(widget)) {
+                sh = new shadow;
+                sh->isLimited  = oTw->isLimited;
+                sh->scale      = oTw->scale;
+                sh->widget     = oTw->widget;
+                oTw->isLimited = isLimited;
+                oTw->scale     = scale;
+                oTw->widget    = widget;
+            } else {
+                sh = new shadow;
+                sh->isLimited = isLimited;
+                sh->scale     = scale;
+                sh->widget    = widget;
             }
-            else
-            {
-                sh=new shadow;
-                sh->isLimited=isLimited;
-                sh->scale=scale;
-                sh->widget=widget;
-            }
-            shadowsList.insert(widget,oTw);
+            shadowsList.insert(widget, oTw);
             oTw->shadowsList.append(sh);
-            connectWidgetUpdatesToSlot(widget,SLOT(widgetsContentsChanged()));
-            if(defaultReloadGroups)
-                addWidgetToDefaultReloadGroups(widget,defaultReloadGroups);
-            loadWidgetLimits(widget,oTw->field,oTw->index,isLimited,scale);
+            connectWidgetUpdatesToSlot(widget, SLOT(widgetsContentsChanged()));
+            if (defaultReloadGroups) {
+                addWidgetToDefaultReloadGroups(widget, defaultReloadGroups);
+            }
+            loadWidgetLimits(widget, oTw->field, oTw->index, isLimited, scale);
             return true;
         }
     }
@@ -696,118 +688,115 @@ bool ConfigTaskWidget::addShadowWidget(QString object, QString field, QWidget *w
  */
 void ConfigTaskWidget::autoLoadWidgets()
 {
-    QPushButton * saveButtonWidget=NULL;
-    QPushButton * applyButtonWidget=NULL;
-    foreach(QWidget * widget,this->findChildren<QWidget*>())
-    {
-        QVariant info=widget->property("objrelation");
-        if(info.isValid())
-        {
+    QPushButton *saveButtonWidget  = NULL;
+    QPushButton *applyButtonWidget = NULL;
+
+    foreach(QWidget * widget, this->findChildren<QWidget *>()) {
+        QVariant info = widget->property("objrelation");
+
+        if (info.isValid()) {
             uiRelationAutomation uiRelation;
-            uiRelation.buttonType=none;
-            uiRelation.scale=1;
-            uiRelation.element=QString();
-            uiRelation.haslimits=false;
-            foreach(QString str, info.toStringList())
-            {
-                QString prop=str.split(":").at(0);
-                QString value=str.split(":").at(1);
-                if(prop== "objname")
-                    uiRelation.objname=value;
-                else if(prop== "fieldname")
-                    uiRelation.fieldname=value;
-                else if(prop=="element")
-                    uiRelation.element=value;
-                else if(prop== "scale")
-                {
-                    if(value=="null")
-                        uiRelation.scale=1;
-                    else
-                        uiRelation.scale=value.toDouble();
-                }
-                else if(prop== "haslimits")
-                {
-                    if(value=="yes")
-                        uiRelation.haslimits=true;
-                    else
-                        uiRelation.haslimits=false;
-                }
-                else if(prop== "button")
-                {
-                    if(value=="save")
-                        uiRelation.buttonType=save_button;
-                    else if(value=="apply")
-                        uiRelation.buttonType=apply_button;
-                    else if(value=="reload")
-                        uiRelation.buttonType=reload_button;
-                    else if(value=="default")
-                        uiRelation.buttonType=default_button;
-                    else if(value=="help")
-                        uiRelation.buttonType=help_button;
-                }
-                else if(prop== "buttongroup")
-                {
-                    foreach(QString s,value.split(","))
-                    {
+            uiRelation.buttonType = none;
+            uiRelation.scale = 1;
+            uiRelation.element    = QString();
+            uiRelation.haslimits  = false;
+            foreach(QString str, info.toStringList()) {
+                QString prop  = str.split(":").at(0);
+                QString value = str.split(":").at(1);
+
+                if (prop == "objname") {
+                    uiRelation.objname = value;
+                } else if (prop == "fieldname") {
+                    uiRelation.fieldname = value;
+                } else if (prop == "element") {
+                    uiRelation.element = value;
+                } else if (prop == "scale") {
+                    if (value == "null") {
+                        uiRelation.scale = 1;
+                    } else {
+                        uiRelation.scale = value.toDouble();
+                    }
+                } else if (prop == "haslimits") {
+                    if (value == "yes") {
+                        uiRelation.haslimits = true;
+                    } else {
+                        uiRelation.haslimits = false;
+                    }
+                } else if (prop == "button") {
+                    if (value == "save") {
+                        uiRelation.buttonType = save_button;
+                    } else if (value == "apply") {
+                        uiRelation.buttonType = apply_button;
+                    } else if (value == "reload") {
+                        uiRelation.buttonType = reload_button;
+                    } else if (value == "default") {
+                        uiRelation.buttonType = default_button;
+                    } else if (value == "help") {
+                        uiRelation.buttonType = help_button;
+                    }
+                } else if (prop == "buttongroup") {
+                    foreach(QString s, value.split(",")) {
                         uiRelation.buttonGroup.append(s.toInt());
                     }
+                } else if (prop == "url") {
+                    uiRelation.url = str.mid(str.indexOf(":") + 1);
                 }
-                else if(prop=="url")
-                    uiRelation.url=str.mid(str.indexOf(":")+1);
             }
-            if(!uiRelation.buttonType==none)
-            {
-                QPushButton * button=NULL;
-                switch(uiRelation.buttonType)
-                {
+            if (!uiRelation.buttonType == none) {
+                QPushButton *button = NULL;
+                switch (uiRelation.buttonType) {
                 case save_button:
-                    saveButtonWidget=qobject_cast<QPushButton *>(widget);
-                    if(saveButtonWidget)
-                        addApplySaveButtons(NULL,saveButtonWidget);
+                    saveButtonWidget = qobject_cast<QPushButton *>(widget);
+                    if (saveButtonWidget) {
+                        addApplySaveButtons(NULL, saveButtonWidget);
+                    }
                     break;
                 case apply_button:
-                    applyButtonWidget=qobject_cast<QPushButton *>(widget);
-                    if(applyButtonWidget)
-                        addApplySaveButtons(applyButtonWidget,NULL);
+                    applyButtonWidget = qobject_cast<QPushButton *>(widget);
+                    if (applyButtonWidget) {
+                        addApplySaveButtons(applyButtonWidget, NULL);
+                    }
                     break;
                 case default_button:
-                    button=qobject_cast<QPushButton *>(widget);
-                    if(button)
-                        addDefaultButton(button,uiRelation.buttonGroup.at(0));
+                    button = qobject_cast<QPushButton *>(widget);
+                    if (button) {
+                        addDefaultButton(button, uiRelation.buttonGroup.at(0));
+                    }
                     break;
                 case reload_button:
-                    button=qobject_cast<QPushButton *>(widget);
-                    if(button)
-                        addReloadButton(button,uiRelation.buttonGroup.at(0));
+                    button = qobject_cast<QPushButton *>(widget);
+                    if (button) {
+                        addReloadButton(button, uiRelation.buttonGroup.at(0));
+                    }
                     break;
                 case help_button:
-                    button=qobject_cast<QPushButton *>(widget);
-                    if(button)
-                        addHelpButton(button,uiRelation.url);
+                    button = qobject_cast<QPushButton *>(widget);
+                    if (button) {
+                        addHelpButton(button, uiRelation.url);
+                    }
                     break;
 
                 default:
                     break;
                 }
-            }
-            else
-            {
-                QWidget * wid=qobject_cast<QWidget *>(widget);
-                if(wid)
-                    addUAVObjectToWidgetRelation(uiRelation.objname,uiRelation.fieldname,wid,uiRelation.element,uiRelation.scale,uiRelation.haslimits,&uiRelation.buttonGroup);
+            } else {
+                QWidget *wid = qobject_cast<QWidget *>(widget);
+                if (wid) {
+                    addUAVObjectToWidgetRelation(uiRelation.objname, uiRelation.fieldname, wid, uiRelation.element, uiRelation.scale, uiRelation.haslimits, &uiRelation.buttonGroup);
+                }
             }
         }
     }
     refreshWidgetsValues();
     forceShadowUpdates();
-    foreach(objectToWidget * ow,objOfInterest)
-    {
-        if(ow->widget)
-            qDebug()<<"Master:"<<ow->widget->objectName();
-        foreach(shadow * sh,ow->shadowsList)
-        {
-            if(sh->widget)
-                qDebug()<<"Child"<<sh->widget->objectName();
+    foreach(objectToWidget * ow, objOfInterest) {
+        if (ow->widget) {
+            qDebug() << "Master:" << ow->widget->objectName();
+        }
+        foreach(shadow * sh, ow->shadowsList) {
+            if (sh->widget) {
+                qDebug() << "Child" << sh->widget->objectName();
+            }
         }
     }
 }
@@ -817,32 +806,26 @@ void ConfigTaskWidget::autoLoadWidgets()
  * @param widget pointer to the widget to be added to the groups
  * @param groups list of the groups on which to add the widget
  */
-void ConfigTaskWidget::addWidgetToDefaultReloadGroups(QWidget *widget, QList<int> * groups)
+void ConfigTaskWidget::addWidgetToDefaultReloadGroups(QWidget *widget, QList<int> *groups)
 {
-    foreach(objectToWidget * oTw,objOfInterest)
-    {
-        bool addOTW=false;
-        if(oTw->widget==widget)
-            addOTW=true;
-        else
-        {
-            foreach(shadow * sh, oTw->shadowsList)
-            {
-                if(sh->widget==widget)
-                    addOTW=true;
+    foreach(objectToWidget * oTw, objOfInterest) {
+        bool addOTW = false;
+
+        if (oTw->widget == widget) {
+            addOTW = true;
+        } else {
+            foreach(shadow * sh, oTw->shadowsList) {
+                if (sh->widget == widget) {
+                    addOTW = true;
+                }
             }
         }
-        if(addOTW)
-        {
-            foreach(int i,*groups)
-            {
-                if(defaultReloadGroups.contains(i))
-                {
+        if (addOTW) {
+            foreach(int i, *groups) {
+                if (defaultReloadGroups.contains(i)) {
                     defaultReloadGroups.value(i)->append(oTw);
-                }
-                else
-                {
-                    defaultReloadGroups.insert(i,new QList<objectToWidget*>());
+                } else {
+                    defaultReloadGroups.insert(i, new QList<objectToWidget *>());
                     defaultReloadGroups.value(i)->append(oTw);
                 }
             }
@@ -856,8 +839,8 @@ void ConfigTaskWidget::addWidgetToDefaultReloadGroups(QWidget *widget, QList<int
  */
 void ConfigTaskWidget::addDefaultButton(QPushButton *button, int buttonGroup)
 {
-    button->setProperty("group",buttonGroup);
-    connect(button,SIGNAL(clicked()),this,SLOT(defaultButtonClicked()));
+    button->setProperty("group", buttonGroup);
+    connect(button, SIGNAL(clicked()), this, SLOT(defaultButtonClicked()));
 }
 /**
  * Adds a button to a reload group
@@ -866,24 +849,25 @@ void ConfigTaskWidget::addDefaultButton(QPushButton *button, int buttonGroup)
  */
 void ConfigTaskWidget::addReloadButton(QPushButton *button, int buttonGroup)
 {
-    button->setProperty("group",buttonGroup);
+    button->setProperty("group", buttonGroup);
     reloadButtonList.append(button);
-    connect(button,SIGNAL(clicked()),this,SLOT(reloadButtonClicked()));
+    connect(button, SIGNAL(clicked()), this, SLOT(reloadButtonClicked()));
 }
 /**
  * Called when a default button is clicked
  */
 void ConfigTaskWidget::defaultButtonClicked()
 {
-    int group=sender()->property("group").toInt();
+    int group = sender()->property("group").toInt();
     emit defaultRequested(group);
-    QList<objectToWidget*> * list=defaultReloadGroups.value(group);
-    foreach(objectToWidget * oTw,*list)
-    {
-        if(!oTw->object || !oTw->field)
+
+    QList<objectToWidget *> *list = defaultReloadGroups.value(group);
+    foreach(objectToWidget * oTw, *list) {
+        if (!oTw->object || !oTw->field) {
             continue;
-        UAVDataObject * temp=((UAVDataObject*)oTw->object)->dirtyClone();
-        setWidgetFromField(oTw->widget,temp->getField(oTw->field->getName()),oTw->index,oTw->scale,oTw->isLimited);
+        }
+        UAVDataObject *temp = ((UAVDataObject *)oTw->object)->dirtyClone();
+        setWidgetFromField(oTw->widget, temp->getField(oTw->field->getName()), oTw->index, oTw->scale, oTw->isLimited);
     }
 }
 /**
@@ -891,145 +875,114 @@ void ConfigTaskWidget::defaultButtonClicked()
  */
 void ConfigTaskWidget::reloadButtonClicked()
 {
-    if(timeOut)
+    if (timeOut) {
         return;
-    int group=sender()->property("group").toInt();
-    QList<objectToWidget*> * list=defaultReloadGroups.value(group,NULL);
-    if(!list)
+    }
+    int group = sender()->property("group").toInt();
+    QList<objectToWidget *> *list = defaultReloadGroups.value(group, NULL);
+    if (!list) {
         return;
-    ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
-    timeOut=new QTimer(this);
-    QEventLoop * eventLoop=new QEventLoop(this);
-    connect(timeOut, SIGNAL(timeout()),eventLoop,SLOT(quit()));
-    connect(objper, SIGNAL(objectUpdated(UAVObject*)), eventLoop, SLOT(quit()));
+    }
+    ObjectPersistence *objper     = dynamic_cast<ObjectPersistence *>(getObjectManager()->getObject(ObjectPersistence::NAME));
+    timeOut = new QTimer(this);
+    QEventLoop *eventLoop = new QEventLoop(this);
+    connect(timeOut, SIGNAL(timeout()), eventLoop, SLOT(quit()));
+    connect(objper, SIGNAL(objectUpdated(UAVObject *)), eventLoop, SLOT(quit()));
 
     QList<temphelper> temp;
-    foreach(objectToWidget * oTw,*list)
-    {
-        if (oTw->object != NULL)
-        {
+    foreach(objectToWidget * oTw, *list) {
+        if (oTw->object != NULL) {
             temphelper value;
-            value.objid=oTw->object->getObjID();
-            value.objinstid=oTw->object->getInstID();
-            if(temp.contains(value))
+            value.objid     = oTw->object->getObjID();
+            value.objinstid = oTw->object->getInstID();
+            if (temp.contains(value)) {
                 continue;
-            else
+            } else {
                 temp.append(value);
+            }
             ObjectPersistence::DataFields data;
-            data.Operation = ObjectPersistence::OPERATION_LOAD;
-            data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
-            data.ObjectID = oTw->object->getObjID();
+            data.Operation  = ObjectPersistence::OPERATION_LOAD;
+            data.Selection  = ObjectPersistence::SELECTION_SINGLEOBJECT;
+            data.ObjectID   = oTw->object->getObjID();
             data.InstanceID = oTw->object->getInstID();
             objper->setData(data);
             objper->updated();
             timeOut->start(500);
             eventLoop->exec();
-            if(timeOut->isActive())
-            {
+            if (timeOut->isActive()) {
                 oTw->object->requestUpdate();
-                if(oTw->widget)
-                    setWidgetFromField(oTw->widget,oTw->field,oTw->index,oTw->scale,oTw->isLimited);
+                if (oTw->widget) {
+                    setWidgetFromField(oTw->widget, oTw->field, oTw->index, oTw->scale, oTw->isLimited);
+                }
             }
             timeOut->stop();
         }
     }
-    if(eventLoop)
-    {
+    if (eventLoop) {
         delete eventLoop;
-        eventLoop=NULL;
+        eventLoop = NULL;
     }
-    if(timeOut)
-    {
+    if (timeOut) {
         delete timeOut;
-        timeOut=NULL;
+        timeOut = NULL;
     }
 }
 
 /**
  * Connects widgets "contents changed" signals to a slot
  */
-void ConfigTaskWidget::connectWidgetUpdatesToSlot(QWidget * widget,const char* function)
+void ConfigTaskWidget::connectWidgetUpdatesToSlot(QWidget *widget, const char *function)
 {
-    if(!widget)
+    if (!widget) {
         return;
-    if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
-    {
-        connect(cb,SIGNAL(currentIndexChanged(int)),this,function);
     }
-    else if(QSlider * cb=qobject_cast<QSlider *>(widget))
-    {
-        connect(cb,SIGNAL(valueChanged(int)),this,function);
+    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
+        connect(cb, SIGNAL(currentIndexChanged(int)), this, function);
+    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
+        connect(cb, SIGNAL(valueChanged(int)), this, function);
+    } else if (MixerCurveWidget * cb = qobject_cast<MixerCurveWidget *>(widget)) {
+        connect(cb, SIGNAL(curveUpdated()), this, function);
+    } else if (QTableWidget * cb = qobject_cast<QTableWidget *>(widget)) {
+        connect(cb, SIGNAL(cellChanged(int, int)), this, function);
+    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
+        connect(cb, SIGNAL(valueChanged(int)), this, function);
+    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
+        connect(cb, SIGNAL(valueChanged(double)), this, function);
+    } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
+        connect(cb, SIGNAL(stateChanged(int)), this, function);
+    } else if (QPushButton * cb = qobject_cast<QPushButton *>(widget)) {
+        connect(cb, SIGNAL(clicked()), this, function);
+    } else {
+        qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className();
     }
-    else if(MixerCurveWidget * cb=qobject_cast<MixerCurveWidget *>(widget))
-    {
-        connect(cb,SIGNAL(curveUpdated()),this,function);
-    }
-    else if(QTableWidget * cb=qobject_cast<QTableWidget *>(widget))
-    {
-        connect(cb,SIGNAL(cellChanged(int,int)),this,function);
-    }
-    else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
-    {
-        connect(cb,SIGNAL(valueChanged(int)),this,function);
-    }
-    else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
-    {
-        connect(cb,SIGNAL(valueChanged(double)),this,function);
-    }
-    else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
-    {
-        connect(cb,SIGNAL(stateChanged(int)),this,function);
-    }
-    else if(QPushButton * cb=qobject_cast<QPushButton *>(widget))
-    {
-        connect(cb,SIGNAL(clicked()),this,function);
-    }
-    else
-        qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
-
 }
 /**
  * Disconnects widgets "contents changed" signals to a slot
  */
-void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget * widget,const char* function)
+void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget *widget, const char *function)
 {
-    if(!widget)
+    if (!widget) {
         return;
-    if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
-    {
-        disconnect(cb,SIGNAL(currentIndexChanged(int)),this,function);
     }
-    else if(QSlider * cb=qobject_cast<QSlider *>(widget))
-    {
-        disconnect(cb,SIGNAL(valueChanged(int)),this,function);
+    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
+        disconnect(cb, SIGNAL(currentIndexChanged(int)), this, function);
+    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
+        disconnect(cb, SIGNAL(valueChanged(int)), this, function);
+    } else if (MixerCurveWidget * cb = qobject_cast<MixerCurveWidget *>(widget)) {
+        disconnect(cb, SIGNAL(curveUpdated()), this, function);
+    } else if (QTableWidget * cb = qobject_cast<QTableWidget *>(widget)) {
+        disconnect(cb, SIGNAL(cellChanged(int, int)), this, function);
+    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
+        disconnect(cb, SIGNAL(valueChanged(int)), this, function);
+    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
+        disconnect(cb, SIGNAL(valueChanged(double)), this, function);
+    } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
+        disconnect(cb, SIGNAL(stateChanged(int)), this, function);
+    } else if (QPushButton * cb = qobject_cast<QPushButton *>(widget)) {
+        disconnect(cb, SIGNAL(clicked()), this, function);
+    } else {
+        qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className();
     }
-    else if(MixerCurveWidget * cb=qobject_cast<MixerCurveWidget *>(widget))
-    {
-        disconnect(cb,SIGNAL(curveUpdated()),this,function);
-    }
-    else if(QTableWidget * cb=qobject_cast<QTableWidget *>(widget))
-    {
-        disconnect(cb,SIGNAL(cellChanged(int,int)),this,function);
-    }
-    else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
-    {
-        disconnect(cb,SIGNAL(valueChanged(int)),this,function);
-    }
-    else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
-    {
-        disconnect(cb,SIGNAL(valueChanged(double)),this,function);
-    }
-    else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
-    {
-        disconnect(cb,SIGNAL(stateChanged(int)),this,function);
-    }
-    else if(QPushButton * cb=qobject_cast<QPushButton *>(widget))
-    {
-        disconnect(cb,SIGNAL(clicked()),this,function);
-    }
-    else
-        qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
-
 }
 /**
  * Sets a widget value from an UAVObject field
@@ -1039,18 +992,18 @@ void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget * widget,const char
  * @param scale scale to be used on the assignement
  * @return returns true if the assignement was successfull
  */
-bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * field,int index,double scale)
+bool ConfigTaskWidget::setFieldFromWidget(QWidget *widget, UAVObjectField *field, int index, double scale)
 {
-    if(!widget || !field)
+    if (!widget || !field) {
         return false;
+    }
     QVariant ret = getVariantFromWidget(widget, scale, field->getUnits());
-    if(ret.isValid())
-    {
-        field->setValue(ret,index);
+    if (ret.isValid()) {
+        field->setValue(ret, index);
         return true;
     }
     {
-        qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
+        qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className();
         return false;
     }
 }
@@ -1062,38 +1015,27 @@ bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * fiel
  */
 QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, QString units)
 {
-    if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
-    {
+    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
         return (QString)cb->currentText();
-    }
-    else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
-    {
-        return (double)(cb->value()* scale);
-    }
-    else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
-    {
-        return (double)(cb->value()* scale);
-    }
-    else if(QSlider * cb=qobject_cast<QSlider *>(widget))
-    {
-        return(double)(cb->value()* scale);
-    }
-    else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
-    {
-        return (QString)(cb->isChecked()?"TRUE":"FALSE");
-    }
-    else if(QLineEdit * cb=qobject_cast<QLineEdit *>(widget))
-    {
+    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
+        return (double)(cb->value() * scale);
+    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
+        return (double)(cb->value() * scale);
+    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
+        return (double)(cb->value() * scale);
+    } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
+        return (QString)(cb->isChecked() ? "TRUE" : "FALSE");
+    } else if (QLineEdit * cb = qobject_cast<QLineEdit *>(widget)) {
         QString value = (QString)cb->displayText();
-        if(units == "hex") {
+        if (units == "hex") {
             bool ok;
             return value.toUInt(&ok, 16);
         } else {
             return value;
         }
-    }
-    else
+    } else {
         return QVariant();
+    }
 }
 /**
  * Sets a widget from a variant
@@ -1105,55 +1047,43 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, Q
  */
 bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale, QString units)
 {
-   if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
-    {
+    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
         cb->setCurrentIndex(cb->findText(value.toString()));
         return true;
-    }
-    else if(QLabel * cb=qobject_cast<QLabel *>(widget))
-    {
-        if(scale==0)
+    } else if (QLabel * cb = qobject_cast<QLabel *>(widget)) {
+        if (scale == 0) {
             cb->setText(value.toString());
-        else
-            cb->setText(QString::number((value.toDouble()/scale)));
+        } else {
+            cb->setText(QString::number((value.toDouble() / scale)));
+        }
         return true;
-    }
-    else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
-    {
-        cb->setValue((double)(value.toDouble()/scale));
+    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
+        cb->setValue((double)(value.toDouble() / scale));
         return true;
-    }
-    else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
-    {
-        cb->setValue((int)qRound(value.toDouble()/scale));
+    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
+        cb->setValue((int)qRound(value.toDouble() / scale));
         return true;
-    }
-    else if(QSlider * cb=qobject_cast<QSlider *>(widget))
-    {
-        cb->setValue((int)qRound(value.toDouble()/scale));
+    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
+        cb->setValue((int)qRound(value.toDouble() / scale));
         return true;
-    }
-    else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
-    {
-        bool bvalue=value.toString()=="TRUE";
+    } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
+        bool bvalue = value.toString() == "TRUE";
         cb->setChecked(bvalue);
         return true;
-    }
-    else if(QLineEdit * cb=qobject_cast<QLineEdit *>(widget))
-    {
-	if ((scale== 0) || (scale == 1)) {
-            if(units == "hex") {
+    } else if (QLineEdit * cb = qobject_cast<QLineEdit *>(widget)) {
+        if ((scale == 0) || (scale == 1)) {
+            if (units == "hex") {
                 cb->setText(QString::number(value.toUInt(), 16).toUpper());
             } else {
                 cb->setText(value.toString());
             }
         } else {
-            cb->setText(QString::number((value.toDouble()/scale)));
+            cb->setText(QString::number((value.toDouble() / scale)));
         }
         return true;
-    }
-    else
+    } else {
         return false;
+    }
 }
 
 /**
@@ -1177,185 +1107,154 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, dou
  * @param hasLimits set to true if you want to limit the values (check wiki)
  * @return returns true if the assignement was successfull
  */
-bool ConfigTaskWidget::setWidgetFromField(QWidget * widget,UAVObjectField * field,int index,double scale,bool hasLimits)
+bool ConfigTaskWidget::setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, double scale, bool hasLimits)
 {
-    if(!widget || !field)
+    if (!widget || !field) {
         return false;
-    if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
-    {
-        if(cb->count()==0)
-            loadWidgetLimits(cb,field,index,hasLimits,scale);
     }
-    QVariant var=field->getValue(index);
-    checkWidgetsLimits(widget,field,index,hasLimits,var,scale);
-    bool ret = setWidgetFromVariant(widget, var, scale, field->getUnits());
-    if(ret)
+    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
+        if (cb->count() == 0) {
+            loadWidgetLimits(cb, field, index, hasLimits, scale);
+        }
+    }
+    QVariant var = field->getValue(index);
+    checkWidgetsLimits(widget, field, index, hasLimits, var, scale);
+    bool ret     = setWidgetFromVariant(widget, var, scale, field->getUnits());
+    if (ret) {
         return true;
-    else
-    {
-        qDebug()<<__FUNCTION__<<"widget to uavobject relation not implemented"<<widget->metaObject()->className();
+    } else {
+        qDebug() << __FUNCTION__ << "widget to uavobject relation not implemented" << widget->metaObject()->className();
         return false;
     }
 }
-void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * field,int index,bool hasLimits, QVariant value, double scale)
+void ConfigTaskWidget::checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, double scale)
 {
-    if(!hasLimits)
+    if (!hasLimits) {
         return;
-    if(!field->isWithinLimits(value,index,currentBoard))
-    {
-        if(!widget->property("styleBackup").isValid())
-            widget->setProperty("styleBackup",widget->styleSheet());
-        widget->setStyleSheet(outOfLimitsStyle);
-        widget->setProperty("wasOverLimits",(bool)true);
-        if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
-        {
-            if(cb->findText(value.toString())==-1)
-                cb->addItem(value.toString());
-        }
-        else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
-        {
-            if((double)(value.toDouble()/scale)>cb->maximum())
-            {
-                cb->setMaximum((double)(value.toDouble()/scale));
-            }
-            else if((double)(value.toDouble()/scale)<cb->minimum())
-            {
-                cb->setMinimum((double)(value.toDouble()/scale));
-            }
-
-        }
-        else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
-        {
-            if((int)qRound(value.toDouble()/scale)>cb->maximum())
-            {
-                cb->setMaximum((int)qRound(value.toDouble()/scale));
-            }
-            else if((int)qRound(value.toDouble()/scale)<cb->minimum())
-            {
-                cb->setMinimum((int)qRound(value.toDouble()/scale));
-            }
-        }
-        else if(QSlider * cb=qobject_cast<QSlider *>(widget))
-        {
-            if((int)qRound(value.toDouble()/scale)>cb->maximum())
-            {
-                cb->setMaximum((int)qRound(value.toDouble()/scale));
-            }
-            else if((int)qRound(value.toDouble()/scale)<cb->minimum())
-            {
-                cb->setMinimum((int)qRound(value.toDouble()/scale));
-            }
-        }
-
     }
-    else if(widget->property("wasOverLimits").isValid())
-    {
-        if(widget->property("wasOverLimits").toBool())
-        {
-            widget->setProperty("wasOverLimits",(bool)false);
-            if(widget->property("styleBackup").isValid())
-            {
-                QString style=widget->property("styleBackup").toString();
+    if (!field->isWithinLimits(value, index, currentBoard)) {
+        if (!widget->property("styleBackup").isValid()) {
+            widget->setProperty("styleBackup", widget->styleSheet());
+        }
+        widget->setStyleSheet(outOfLimitsStyle);
+        widget->setProperty("wasOverLimits", (bool)true);
+        if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
+            if (cb->findText(value.toString()) == -1) {
+                cb->addItem(value.toString());
+            }
+        } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
+            if ((double)(value.toDouble() / scale) > cb->maximum()) {
+                cb->setMaximum((double)(value.toDouble() / scale));
+            } else if ((double)(value.toDouble() / scale) < cb->minimum()) {
+                cb->setMinimum((double)(value.toDouble() / scale));
+            }
+        } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
+            if ((int)qRound(value.toDouble() / scale) > cb->maximum()) {
+                cb->setMaximum((int)qRound(value.toDouble() / scale));
+            } else if ((int)qRound(value.toDouble() / scale) < cb->minimum()) {
+                cb->setMinimum((int)qRound(value.toDouble() / scale));
+            }
+        } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
+            if ((int)qRound(value.toDouble() / scale) > cb->maximum()) {
+                cb->setMaximum((int)qRound(value.toDouble() / scale));
+            } else if ((int)qRound(value.toDouble() / scale) < cb->minimum()) {
+                cb->setMinimum((int)qRound(value.toDouble() / scale));
+            }
+        }
+    } else if (widget->property("wasOverLimits").isValid()) {
+        if (widget->property("wasOverLimits").toBool()) {
+            widget->setProperty("wasOverLimits", (bool)false);
+            if (widget->property("styleBackup").isValid()) {
+                QString style = widget->property("styleBackup").toString();
                 widget->setStyleSheet(style);
             }
-            loadWidgetLimits(widget,field,index,hasLimits,scale);
+            loadWidgetLimits(widget, field, index, hasLimits, scale);
         }
     }
 }
 
-void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,int index,bool hasLimits,double scale)
-{   
-    if(!widget || !field)
+void ConfigTaskWidget::loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, double scale)
+{
+    if (!widget || !field) {
         return;
-    if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
-    {
+    }
+    if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
         cb->clear();
-        QStringList option=field->getOptions();
-        if(hasLimits)
-        {
-            foreach(QString str,option)
-            {
-                if(field->isWithinLimits(str,index,currentBoard))
+        QStringList option = field->getOptions();
+        if (hasLimits) {
+            foreach(QString str, option) {
+                if (field->isWithinLimits(str, index, currentBoard)) {
                     cb->addItem(str);
+                }
             }
-        }
-        else
+        } else {
             cb->addItems(option);
+        }
     }
-    if(!hasLimits)
+    if (!hasLimits) {
         return;
-    else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
-    {
-        if(field->getMaxLimit(index).isValid())
-        {
-            cb->setMaximum((double)(field->getMaxLimit(index,currentBoard).toDouble()/scale));
+    } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
+        if (field->getMaxLimit(index).isValid()) {
+            cb->setMaximum((double)(field->getMaxLimit(index, currentBoard).toDouble() / scale));
         }
-        if(field->getMinLimit(index,currentBoard).isValid())
-        {
-            cb->setMinimum((double)(field->getMinLimit(index,currentBoard).toDouble()/scale));
+        if (field->getMinLimit(index, currentBoard).isValid()) {
+            cb->setMinimum((double)(field->getMinLimit(index, currentBoard).toDouble() / scale));
         }
-    }
-    else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
-    {
-        if(field->getMaxLimit(index,currentBoard).isValid())
-        {
-            cb->setMaximum((int)qRound(field->getMaxLimit(index,currentBoard).toDouble()/scale));
+    } else if (QSpinBox * cb = qobject_cast<QSpinBox *>(widget)) {
+        if (field->getMaxLimit(index, currentBoard).isValid()) {
+            cb->setMaximum((int)qRound(field->getMaxLimit(index, currentBoard).toDouble() / scale));
         }
-        if(field->getMinLimit(index,currentBoard).isValid())
-        {
-            cb->setMinimum((int)qRound(field->getMinLimit(index,currentBoard).toDouble()/scale));
+        if (field->getMinLimit(index, currentBoard).isValid()) {
+            cb->setMinimum((int)qRound(field->getMinLimit(index, currentBoard).toDouble() / scale));
         }
-    }
-    else if(QSlider * cb=qobject_cast<QSlider *>(widget))
-    {
-        if(field->getMaxLimit(index,currentBoard).isValid())
-        {
-            cb->setMaximum((int)qRound(field->getMaxLimit(index,currentBoard).toDouble()/scale));
+    } else if (QSlider * cb = qobject_cast<QSlider *>(widget)) {
+        if (field->getMaxLimit(index, currentBoard).isValid()) {
+            cb->setMaximum((int)qRound(field->getMaxLimit(index, currentBoard).toDouble() / scale));
         }
-        if(field->getMinLimit(index,currentBoard).isValid())
-        {
-            cb->setMinimum((int)(field->getMinLimit(index,currentBoard).toDouble()/scale));
+        if (field->getMinLimit(index, currentBoard).isValid()) {
+            cb->setMinimum((int)(field->getMinLimit(index, currentBoard).toDouble() / scale));
         }
     }
 }
 
 void ConfigTaskWidget::updateEnableControls()
 {
-    TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
+    TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
+
     Q_ASSERT(telMngr);
     enableControls(telMngr->isConnected());
 }
 
 void ConfigTaskWidget::disableMouseWheelEvents()
 {
-    //Disable mouse wheel events
-    foreach( QSpinBox * sp, findChildren<QSpinBox*>() ) {
-        sp->installEventFilter( this );
+    // Disable mouse wheel events
+    foreach(QSpinBox * sp, findChildren<QSpinBox *>()) {
+        sp->installEventFilter(this);
     }
-    foreach( QDoubleSpinBox * sp, findChildren<QDoubleSpinBox*>() ) {
-        sp->installEventFilter( this );
+    foreach(QDoubleSpinBox * sp, findChildren<QDoubleSpinBox *>()) {
+        sp->installEventFilter(this);
     }
-    foreach( QSlider * sp, findChildren<QSlider*>() ) {
-        sp->installEventFilter( this );
+    foreach(QSlider * sp, findChildren<QSlider *>()) {
+        sp->installEventFilter(this);
     }
-    foreach( QComboBox * sp, findChildren<QComboBox*>() ) {
-        sp->installEventFilter( this );
+    foreach(QComboBox * sp, findChildren<QComboBox *>()) {
+        sp->installEventFilter(this);
     }
 }
 
-bool ConfigTaskWidget::eventFilter( QObject * obj, QEvent * evt ) {
-    //Filter all wheel events, and ignore them
-    if ( evt->type() == QEvent::Wheel &&
-         (qobject_cast<QAbstractSpinBox*>( obj ) ||
-          qobject_cast<QComboBox*>( obj ) ||
-          qobject_cast<QAbstractSlider*>( obj ) ))
-    {
+bool ConfigTaskWidget::eventFilter(QObject *obj, QEvent *evt)
+{
+    // Filter all wheel events, and ignore them
+    if (evt->type() == QEvent::Wheel &&
+        (qobject_cast<QAbstractSpinBox *>(obj) ||
+         qobject_cast<QComboBox *>(obj) ||
+         qobject_cast<QAbstractSlider *>(obj))) {
         evt->ignore();
         return true;
     }
-    return QWidget::eventFilter( obj, evt );
+    return QWidget::eventFilter(obj, evt);
 }
 /**
-  @}
-  @}
-  */
+   @}
+   @}
+ */

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h

@@ -48,53 +48,49 @@
 #include <QUrl>
 #include <QEvent>
 
-class UAVOBJECTWIDGETUTILS_EXPORT ConfigTaskWidget: public QWidget
-{
+class UAVOBJECTWIDGETUTILS_EXPORT ConfigTaskWidget : public QWidget {
     Q_OBJECT
 
 public:
-    struct shadow
-    {
-        QWidget * widget;
-        double scale;
-        bool isLimited;
+    struct shadow {
+        QWidget *widget;
+        double  scale;
+        bool    isLimited;
     };
-    struct objectToWidget
-    {
-        UAVObject * object;
-        UAVObjectField * field;
-        QWidget * widget;
+    struct objectToWidget {
+        UAVObject *object;
+        UAVObjectField *field;
+        QWidget   *widget;
         int index;
-        double scale;
+        double    scale;
         bool isLimited;
         QList<shadow *> shadowsList;
-        QString getUnits() const {
+        QString   getUnits() const
+        {
             if (field) {
                 return field->getUnits();
             }
-	    return QString("");
+            return QString("");
         }
     };
 
-    struct temphelper
-    {
+    struct temphelper {
         quint32 objid;
         quint32 objinstid;
-        bool operator==(const temphelper& lhs)
+        bool operator==(const temphelper & lhs)
         {
-            return (lhs.objid==this->objid && lhs.objinstid==this->objinstid);
+            return lhs.objid == this->objid && lhs.objinstid == this->objinstid;
         }
     };
 
-    enum buttonTypeEnum {none,save_button,apply_button,reload_button,default_button,help_button};
-    struct uiRelationAutomation
-    {
-        QString objname;
-        QString fieldname;
-        QString element;
-        QString url;
+    enum buttonTypeEnum { none, save_button, apply_button, reload_button, default_button, help_button };
+    struct uiRelationAutomation {
+        QString        objname;
+        QString        fieldname;
+        QString        element;
+        QString        url;
         buttonTypeEnum buttonType;
-        QList<int> buttonGroup;
+        QList<int>     buttonGroup;
         double scale;
         bool haslimits;
     };
@@ -103,37 +99,37 @@ public:
     virtual ~ConfigTaskWidget();
 
     void disableMouseWheelEvents();
-    bool eventFilter( QObject * obj, QEvent * evt );
+    bool eventFilter(QObject *obj, QEvent *evt);
 
     void saveObjectToSD(UAVObject *obj);
-    UAVObjectManager* getObjectManager();
+    UAVObjectManager *getObjectManager();
     static double listMean(QList<double> list);
     static double listVar(QList<double> list);
 
-    void addUAVObject(QString objectName, QList<int> *reloadGroups=NULL);
-    void addUAVObject(UAVObject * objectName, QList<int> *reloadGroups=NULL);
+    void addUAVObject(QString objectName, QList<int> *reloadGroups = NULL);
+    void addUAVObject(UAVObject *objectName, QList<int> *reloadGroups = NULL);
 
-    void addWidget(QWidget * widget);
+    void addWidget(QWidget *widget);
 
-    void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget,int index=0,double scale=1,bool isLimited=false,QList<int>* defaultReloadGroups=0,quint32 instID=0);
-    void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField * field, QWidget *widget, int index=0, double scale=1, bool isLimited=false, QList<int> *defaultReloadGroups=0, quint32 instID=0);
+    void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, int index = 0, double scale = 1, bool isLimited = false, QList<int> *defaultReloadGroups = 0, quint32 instID = 0);
+    void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, int index = 0, double scale = 1, bool isLimited = false, QList<int> *defaultReloadGroups = 0, quint32 instID = 0);
 
-    void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget,QString element,double scale,bool isLimited=false,QList<int>* defaultReloadGroups=0,quint32 instID=0);
-    void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField * field,QWidget * widget,QString element,double scale,bool isLimited=false,QList<int>* defaultReloadGroups=0,quint32 instID=0);
+    void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString element, double scale, bool isLimited = false, QList<int> *defaultReloadGroups = 0, quint32 instID = 0);
+    void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString element, double scale, bool isLimited = false, QList<int> *defaultReloadGroups = 0, quint32 instID = 0);
 
     void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index);
-    void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField * field, QWidget *widget, QString index);
+    void addUAVObjectToWidgetRelation(UAVObject *obj, UAVObjectField *field, QWidget *widget, QString index);
 
-    //BUTTONS//
-    void addApplySaveButtons(QPushButton * update,QPushButton * save);
-    void addReloadButton(QPushButton * button,int buttonGroup);
-    void addDefaultButton(QPushButton * button,int buttonGroup);
+    // BUTTONS//
+    void addApplySaveButtons(QPushButton *update, QPushButton *save);
+    void addReloadButton(QPushButton *button, int buttonGroup);
+    void addDefaultButton(QPushButton *button, int buttonGroup);
     //////////
 
-    void addWidgetToDefaultReloadGroups(QWidget * widget, QList<int> *groups);
+    void addWidgetToDefaultReloadGroups(QWidget *widget, QList<int> *groups);
 
-    bool addShadowWidget(QWidget * masterWidget, QWidget * shadowWidget,double shadowScale=1,bool shadowIsLimited=false);
-    bool addShadowWidget(QString object,QString field,QWidget * widget,int index=0,double scale=1,bool isLimited=false, QList<int> *defaultReloadGroups=NULL, quint32 instID=0);
+    bool addShadowWidget(QWidget *masterWidget, QWidget *shadowWidget, double shadowScale = 1, bool shadowIsLimited = false);
+    bool addShadowWidget(QString object, QString field, QWidget *widget, int index = 0, double scale = 1, bool isLimited = false, QList<int> *defaultReloadGroups = NULL, quint32 instID = 0);
 
     void autoLoadWidgets();
 
@@ -141,8 +137,11 @@ public:
     void setDirty(bool value);
 
     bool allObjectsUpdated();
-    void setOutOfLimitsStyle(QString style){outOfLimitsStyle=style;}
-    void addHelpButton(QPushButton * button,QString url);
+    void setOutOfLimitsStyle(QString style)
+    {
+        outOfLimitsStyle = style;
+    }
+    void addHelpButton(QPushButton *button, QString url);
     void forceShadowUpdates();
     void forceConnectedState();
 public slots:
@@ -152,21 +151,21 @@ public slots:
     void apply();
     void save();
 signals:
-    //fired when a widgets contents changes
-    void widgetContentsChanged(QWidget * widget);
-    //fired when the framework requests that the widgets values be populated, use for custom behaviour
+    // fired when a widgets contents changes
+    void widgetContentsChanged(QWidget *widget);
+    // fired when the framework requests that the widgets values be populated, use for custom behaviour
     void populateWidgetsRequested();
-    //fired when the framework requests that the widgets values be refreshed, use for custom behaviour
+    // fired when the framework requests that the widgets values be refreshed, use for custom behaviour
     void refreshWidgetsValuesRequested();
-    //fired when the framework requests that the UAVObject values be updated from the widgets value, use for custom behaviour
+    // fired when the framework requests that the UAVObject values be updated from the widgets value, use for custom behaviour
     void updateObjectsFromWidgetsRequested();
-    //fired when the autopilot connects
+    // fired when the autopilot connects
     void autoPilotConnected();
-    //fired when the autopilot disconnects
+    // fired when the autopilot disconnects
     void autoPilotDisconnected();
     void defaultRequested(int group);
 private slots:
-    void objectUpdated(UAVObject*);
+    void objectUpdated(UAVObject *);
     void defaultButtonClicked();
     void reloadButtonClicked();
 private:
@@ -174,15 +173,15 @@ private:
     bool isConnected;
     bool allowWidgetUpdates;
     QStringList objectsList;
-    QList <objectToWidget*> objOfInterest;
+    QList <objectToWidget *> objOfInterest;
     ExtensionSystem::PluginManager *pm;
     UAVObjectManager *objManager;
-    UAVObjectUtilManager* utilMngr;
+    UAVObjectUtilManager *utilMngr;
     smartSaveButton *smartsave;
-    QMap<UAVObject *,bool> objectUpdates;
-    QMap<int,QList<objectToWidget*> *> defaultReloadGroups;
-    QMap<QWidget *,objectToWidget*> shadowsList;
-    QMap<QPushButton *,QString> helpButtonList;
+    QMap<UAVObject *, bool> objectUpdates;
+    QMap<int, QList<objectToWidget *> *> defaultReloadGroups;
+    QMap<QWidget *, objectToWidget *> shadowsList;
+    QMap<QPushButton *, QString> helpButtonList;
     QList<QPushButton *> reloadButtonList;
     bool dirty;
     bool setFieldFromWidget(QWidget *widget, UAVObjectField *field, int index, double scale);
@@ -194,7 +193,7 @@ private:
     void disconnectWidgetUpdatesToSlot(QWidget *widget, const char *function);
     void loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, double sclale);
     QString outOfLimitsStyle;
-    QTimer * timeOut;
+    QTimer *timeOut;
 
 protected slots:
     virtual void disableObjUpdates();
@@ -202,14 +201,13 @@ protected slots:
     virtual void clearDirty();
     virtual void widgetsContentsChanged();
     virtual void populateWidgets();
-    virtual void refreshWidgetsValues(UAVObject * obj=NULL);
+    virtual void refreshWidgetsValues(UAVObject *obj = NULL);
     virtual void updateObjectsFromWidgets();
     virtual void helpButtonPressed();
 protected:
     virtual void enableControls(bool enable);
     void checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, double scale);
     void updateEnableControls();
-
 };
 
 #endif // CONFIGTASKWIDGET_H

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h

@@ -39,8 +39,7 @@ QT_BEGIN_NAMESPACE
 class QGraphicsSceneMouseEvent;
 QT_END_NAMESPACE
 
-class MixerNode : public QObject,public QGraphicsItem
-{
+class MixerNode : public QObject, public QGraphicsItem {
     Q_OBJECT
 public:
     MixerNode(MixerCurveWidget *graphWidget);
@@ -48,15 +47,37 @@ public:
     QList<Edge *> edges() const;
 
     enum { Type = UserType + 10 };
-    int type() const { return Type; }
+    int type() const
+    {
+        return Type;
+    }
 
     void verticalMove(bool flag);
 
-    void setPositiveColor(QColor color = "#609FF2") {positiveColor = color; }
-    void setNegativeColor(QColor color = "#EF5F5F") {negativeColor = color; }
-    void setImage(QImage img) { image = img; }
-    void setDrawNode(bool draw) { drawNode = draw; }
-    void setDrawText(bool draw) { drawText = draw; }
+    void setPositiveColor(QColor color = "#609FF2")
+    {
+        positiveColor = color;
+    }
+
+    void setNegativeColor(QColor color = "#EF5F5F")
+    {
+        negativeColor = color;
+    }
+
+    void setImage(QImage img)
+    {
+        image = img;
+    }
+
+    void setDrawNode(bool draw)
+    {
+        drawNode = draw;
+    }
+
+    void setDrawText(bool draw)
+    {
+        drawText = draw;
+    }
 
     QRectF boundingRect() const;
     QPainterPath shape() const;
@@ -69,25 +90,24 @@ protected:
 
     void mousePressEvent(QGraphicsSceneMouseEvent *event);
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
-    
+
 private:
-    QList<Edge *>       edgeList;
-    QPointF             newPos;
-    MixerCurveWidget*   graph;
+    QList<Edge *> edgeList;
+    QPointF newPos;
+    MixerCurveWidget *graph;
 
-    QColor             positiveColor;
-    QColor             neutralColor;
-    QColor             negativeColor;
-    QColor             disabledColor;
-    QColor             disabledTextColor;
+    QColor positiveColor;
+    QColor neutralColor;
+    QColor negativeColor;
+    QColor disabledColor;
+    QColor disabledTextColor;
 
-    QImage              image;
-
-    bool    vertical;
-    bool    drawNode;
-    bool    drawText;
-    int     index;
+    QImage image;
 
+    bool vertical;
+    bool drawNode;
+    bool drawText;
+    int index;
 };
 
-#endif  // MIXERCURVEPOINT_H
+#endif // MIXERCURVEPOINT_H

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h

@@ -37,57 +37,54 @@
 #include "mixercurveline.h"
 #include "uavobjectwidgetutils_global.h"
 
-class UAVOBJECTWIDGETUTILS_EXPORT MixerCurveWidget : public QGraphicsView
-{
+class UAVOBJECTWIDGETUTILS_EXPORT MixerCurveWidget : public QGraphicsView {
     Q_OBJECT
 
 public:
     MixerCurveWidget(QWidget *parent = 0);
-   ~MixerCurveWidget();
+    ~MixerCurveWidget();
 
     friend class MixerCurve;
 
-   void itemMoved(double itemValue); // Callback when a point is moved, to be updated
-   void initCurve (const QList<double>* points);
-   QList<double> getCurve();
-   void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
-   void setCurve(const QList<double>* points);
-   void setMin(double value);
-   double getMin();
-   void setMax(double value);
-   double getMax();
-   double setRange(double min, double max);
+    void itemMoved(double itemValue); // Callback when a point is moved, to be updated
+    void initCurve(const QList<double> *points);
+    QList<double> getCurve();
+    void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
+    void setCurve(const QList<double> *points);
+    void setMin(double value);
+    double getMin();
+    void setMax(double value);
+    double getMax();
+    double setRange(double min, double max);
 
-   static const int NODE_NUMELEM = 5;
+    static const int NODE_NUMELEM = 5;
 
 signals:
-   void curveUpdated();
-   void curveMinChanged(double value);
-   void curveMaxChanged(double value);
+    void curveUpdated();
+    void curveMinChanged(double value);
+    void curveMaxChanged(double value);
 
 private slots:
 
 private:
-   QGraphicsSvgItem *plot;
+    QGraphicsSvgItem *plot;
 
-   QList<Edge*> edgeList;
-   QList<MixerNode*> nodeList;
+    QList<Edge *> edgeList;
+    QList<MixerNode *> nodeList;
 
-   double curveMin;
-   double curveMax;
-   bool   curveUpdating;
+    double curveMin;
+    double curveMax;
+    bool curveUpdating;
 
-   void  initNodes(int numPoints);
-   void setPositiveColor(QString color);
-   void setNegativeColor(QString color);
+    void  initNodes(int numPoints);
+    void setPositiveColor(QString color);
+    void setNegativeColor(QString color);
 
-   void  resizeCommands();
+    void  resizeCommands();
 
 protected:
     void showEvent(QShowEvent *event);
     void resizeEvent(QResizeEvent *event);
     void changeEvent(QEvent *event);
-
-
 };
 #endif /* MIXERCURVEWIDGET_H_ */

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h

@@ -12,19 +12,24 @@ namespace Ui {
 class PopupWidget;
 }
 
-class UAVOBJECTWIDGETUTILS_EXPORT PopupWidget : public QDialog
-{
+class UAVOBJECTWIDGETUTILS_EXPORT PopupWidget : public QDialog {
     Q_OBJECT
 public:
     explicit PopupWidget(QWidget *parent = 0);
-    
-    void         popUp(QWidget* widget = 0);
-    void         setWidget(QWidget* widget);
-    QWidget*     getWidget() { return m_widget; }
-    QHBoxLayout* getLayout() { return m_layout; }
 
-signals:
-    
+    void         popUp(QWidget *widget = 0);
+    void         setWidget(QWidget *widget);
+
+    QWidget *getWidget()
+    {
+        return m_widget;
+    }
+
+    QHBoxLayout *getLayout()
+    {
+        return m_layout;
+    }
+
 public slots:
     bool close();
     void done(int result);
@@ -33,12 +38,12 @@ private slots:
     void closePopup();
 
 private:
-    QHBoxLayout*    m_layout;
-    QWidget*        m_widget;
-    QWidget*        m_widgetParent;
-    QPushButton*    m_closeButton;
-    int             m_widgetWidth;
-    int             m_widgetHeight;
+    QHBoxLayout *m_layout;
+    QWidget *m_widget;
+    QWidget *m_widgetParent;
+    QPushButton *m_closeButton;
+    int m_widgetWidth;
+    int m_widgetHeight;
 };
 
 #endif // POPUPWIDGET_H

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.h

@@ -37,14 +37,15 @@
 #include "uavobjectutilmanager.h"
 #include <QObject>
 #include <QDebug>
-class smartSaveButton:public QObject
-{
-    enum buttonTypeEnum {save_button,apply_button};
+
+class smartSaveButton : public QObject {
+    enum buttonTypeEnum { save_button, apply_button };
 public:
     Q_OBJECT
+
 public:
     smartSaveButton();
-    void addButtons(QPushButton * save,QPushButton * apply);
+    void addButtons(QPushButton *save, QPushButton *apply);
     void setObjects(QList<UAVDataObject *>);
     void addObject(UAVDataObject *);
     void clearObjects();
@@ -53,32 +54,34 @@ public:
     void addApplyButton(QPushButton *apply);
     void addSaveButton(QPushButton *save);
     void resetIcons();
+
 signals:
     void preProcessOperations();
     void saveSuccessfull();
     void beginOp();
     void endOp();
+
 public slots:
     void apply();
     void save();
+
 private slots:
     void processClick();
     void processOperation(QPushButton *button, bool save);
-    void transaction_finished(UAVObject* obj, bool result);
-    void saving_finished(int,bool);
+    void transaction_finished(UAVObject *obj, bool result);
+    void saving_finished(int, bool);
 
 private:
     quint32 current_objectID;
-    UAVDataObject * current_object;
+    UAVDataObject *current_object;
     bool up_result;
     bool sv_result;
     QEventLoop loop;
     QList<UAVDataObject *> objects;
-    QMap<QPushButton *,buttonTypeEnum> buttonList;
-protected:
+    QMap<QPushButton *, buttonTypeEnum> buttonList;
+
 public slots:
     void enableControls(bool value);
-
 };