From 22e0b88a8f75d070ad0a1ba19990c48b3aaa6e5d Mon Sep 17 00:00:00 2001
From: samguns <wang.vai@gmail.com>
Date: Tue, 17 Mar 2015 15:51:06 +0800
Subject: [PATCH] OP-1781 Add UI stuff and basic definitions

---
 .../src/plugins/config/configinputwidget.cpp  | 37 ++++++++++++++++++-
 .../src/plugins/config/configinputwidget.h    |  3 +-
 .../src/plugins/config/input_wizard.ui        | 11 +++++-
 3 files changed, 46 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 83de7fad6..6481259aa 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -349,6 +349,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
         ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
         ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
 
+    groundChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
+        ManualControlSettings::CHANNELGROUPS_YAW <<
+        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
+        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
+        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
+
     updateEnableControls();
 }
 
@@ -629,6 +635,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         wizardUi->wzBack->setEnabled(true);
         if (transmitterType == heli) {
             wizardUi->typeHeli->setChecked(true);
+        } else if (transmitterType == ground) {
+            wizardUi->typeGround->setChecked(true);
         } else {
             wizardUi->typeAcro->setChecked(true);
         }
@@ -687,6 +695,9 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
     case wizardIdentifyCenter:
         setTxMovement(centerAll);
         wizardUi->pagesStack->setCurrentWidget(wizardUi->identifyCenterPage);
+        if (transmitterType == ground) {
+            wizardUi->identifyCenterInstructions->setText(QString(tr("Please center all controls and trims and press Next when ready.")));
+        }
         break;
     case wizardIdentifyLimits:
     {
@@ -752,6 +763,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
     case wizardChooseType:
         if (wizardUi->typeAcro->isChecked()) {
             transmitterType = acro;
+        } else if (wizardUi->typeGround->isChecked()) {
+            transmitterType = ground;
         } else {
             transmitterType = heli;
         }
@@ -885,7 +898,14 @@ void ConfigInputWidget::setChannel(int newChan)
  */
 void ConfigInputWidget::nextChannel()
 {
-    QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
+    QList <int> order;
+    if (transmitterType == heli) {
+        order = heliChannelOrder;
+    } else if (transmitterType == ground) {
+        order = groundChannelOrder;
+    } else {
+        order = acroChannelOrder;
+    }
 
     if (currentChannelNum == -1) {
         setChannel(order[0]);
@@ -906,7 +926,14 @@ void ConfigInputWidget::nextChannel()
  */
 void ConfigInputWidget::prevChannel()
 {
-    QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
+    QList <int> order;
+    if (transmitterType == heli) {
+        order = heliChannelOrder;
+    } else if (transmitterType == ground) {
+        order = groundChannelOrder;
+    } else {
+        order = acroChannelOrder;
+    }
 
     // No previous from unset channel or next state
     if (currentChannelNum == -1) {
@@ -1672,6 +1699,12 @@ void ConfigInputWidget::adjustSpecialNeutrals()
         manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE] +
         ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] -
           manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.04);
+
+    if (transmitterType == ground) {
+        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =
+            (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] +
+              manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) / 2;
+    }
 }
 
 void ConfigInputWidget::checkThrottleRange()
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
index 3c2a138d2..61e1d2385 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
@@ -62,7 +62,7 @@ public:
     enum txMode { mode1, mode2, mode3, mode4 };
     enum txMovements { moveLeftVerticalStick, moveRightVerticalStick, moveLeftHorizontalStick, moveRightHorizontalStick, moveAccess0, moveAccess1, moveAccess2, moveFlightMode, centerAll, moveAll, nothing };
     enum txMovementType { vertical, horizontal, jump, mix };
-    enum txType { acro, heli };
+    enum txType { acro, heli, ground };
     void startInputWizard()
     {
         goToWizard();
@@ -111,6 +111,7 @@ private:
     int currentChannelNum;
     QList<int> heliChannelOrder;
     QList<int> acroChannelOrder;
+    QList<int> groundChannelOrder;
 
     UAVObject::Metadata manualControlMdata;
     ManualControlCommand *manualCommandObj;
diff --git a/ground/openpilotgcs/src/plugins/config/input_wizard.ui b/ground/openpilotgcs/src/plugins/config/input_wizard.ui
index dcdfa541f..34b3b5945 100644
--- a/ground/openpilotgcs/src/plugins/config/input_wizard.ui
+++ b/ground/openpilotgcs/src/plugins/config/input_wizard.ui
@@ -14,7 +14,7 @@
    <item>
     <widget class="QStackedWidget" name="pagesStack">
      <property name="currentIndex">
-      <number>0</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="welcomePage">
       <layout class="QGridLayout" name="gridLayout">
@@ -64,6 +64,13 @@ You can press 'back' at any time to return to the previous screen or press 'Canc
          </property>
         </widget>
        </item>
+       <item>
+        <widget class="QRadioButton" name="typeGround">
+         <property name="text">
+          <string>Ground vehicle: has at least two channels for throttle and steering (yaw)</string>
+         </property>
+        </widget>
+       </item>
        <item>
         <widget class="QRadioButton" name="typeHeli">
          <property name="text">
@@ -89,7 +96,7 @@ You can press 'back' at any time to return to the previous screen or press 'Canc
          <property name="sizeHint" stdset="0">
           <size>
            <width>20</width>
-           <height>40</height>
+           <height>23</height>
           </size>
          </property>
         </spacer>