Resolves mixer/advanced tab switching issue;

semi-centralized channelNames;
renames ConfigCcpmWidget

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

@@ -1376,7 +1376,7 @@ margin:1px;</string>
               <number>0</number>
              </property>
              <item>
-              <widget class="ConfigccpmWidget" name="widget_3" native="true"/>
+              <widget class="ConfigCcpmWidget" name="widget_3" native="true"/>
              </item>
             </layout>
            </item>
@@ -2801,12 +2801,12 @@ p, li { white-space: pre-wrap; }
             <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
-&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
            </property>
@@ -2910,7 +2910,7 @@ p, li { white-space: pre-wrap; }
    <container>1</container>
   </customwidget>
   <customwidget>
-   <class>ConfigccpmWidget</class>
+   <class>ConfigCcpmWidget</class>
    <extends>QWidget</extends>
    <header>cfg_vehicletypes/configccpmwidget.h</header>
    <container>1</container>
@@ -3016,22 +3016,6 @@ p, li { white-space: pre-wrap; }
     </hint>
    </hints>
   </connection>
-  <connection>
-   <sender>mrPitchMixLevel</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>mrPitchMixValue</receiver>
-   <slot>setNum(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>83</x>
-     <y>228</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>82</x>
-     <y>168</y>
-    </hint>
-   </hints>
-  </connection>
   <connection>
    <sender>mrRollMixLevel</sender>
    <signal>valueChanged(int)</signal>

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp

@@ -44,7 +44,7 @@
 #define  Pi 3.14159265358979323846
 
 
-ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : VehicleConfig(parent)
+ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
 {
     int i;
     SwashLvlConfigurationInProgress=0;
@@ -143,20 +143,20 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : VehicleConfig(parent)
     UAVObjectField * curve2source = mixerSettings->getField("Curve2Source");
     Q_ASSERT(curve2source);
 
-    QStringList channels;
-    channels  << "None" << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
-                "Channel5" << "Channel6" << "Channel7" << "Channel8";
-    m_ccpm->ccpmEngineChannel->addItems(channels);
+//    QStringList channels;
+//    channels  << "None" << "Channel1" << "Channel2" << "Channel3" << "Channel4" <<
+//                "Channel5" << "Channel6" << "Channel7" << "Channel8";
+    m_ccpm->ccpmEngineChannel->addItems(channelNames);
     m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
-    m_ccpm->ccpmTailChannel->addItems(channels);
+    m_ccpm->ccpmTailChannel->addItems(channelNames);
     m_ccpm->ccpmTailChannel->setCurrentIndex(0);
-    m_ccpm->ccpmServoWChannel->addItems(channels);
+    m_ccpm->ccpmServoWChannel->addItems(channelNames);
     m_ccpm->ccpmServoWChannel->setCurrentIndex(0);
-    m_ccpm->ccpmServoXChannel->addItems(channels);
+    m_ccpm->ccpmServoXChannel->addItems(channelNames);
     m_ccpm->ccpmServoXChannel->setCurrentIndex(0);
-    m_ccpm->ccpmServoYChannel->addItems(channels);
+    m_ccpm->ccpmServoYChannel->addItems(channelNames);
     m_ccpm->ccpmServoYChannel->setCurrentIndex(0);
-    m_ccpm->ccpmServoZChannel->addItems(channels);
+    m_ccpm->ccpmServoZChannel->addItems(channelNames);
     m_ccpm->ccpmServoZChannel->setCurrentIndex(0);
 
     QStringList Types;
@@ -222,16 +222,16 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : VehicleConfig(parent)
    ccpmSwashplateRedraw(); 
 }
 
-ConfigccpmWidget::~ConfigccpmWidget()
+ConfigCcpmWidget::~ConfigCcpmWidget()
 {
    // Do nothing
 }
 
-void ConfigccpmWidget::setupUI(QString frameType)
+void ConfigCcpmWidget::setupUI(QString frameType)
 {
 }
 
-void ConfigccpmWidget::ResetActuators(GUIConfigDataUnion* configData)
+void ConfigCcpmWidget::ResetActuators(GUIConfigDataUnion* configData)
 {
     configData->heli.Throttle = 0;
     configData->heli.Tail = 0;
@@ -241,13 +241,13 @@ void ConfigccpmWidget::ResetActuators(GUIConfigDataUnion* configData)
     configData->heli.ServoIndexZ = 0;
 }
 
-QStringList ConfigccpmWidget::getChannelDescriptions()
+QStringList ConfigCcpmWidget::getChannelDescriptions()
 {
     int i;
     QStringList channelDesc;
 
     // init a channel_numelem list of channel desc defaults
-    for (i=0; i < (int)(ConfigccpmWidget::CHANNEL_NUMELEM); i++)
+    for (i=0; i < (int)(ConfigCcpmWidget::CHANNEL_NUMELEM); i++)
     {
         channelDesc.append(QString("-"));
     }
@@ -306,7 +306,7 @@ QStringList ConfigccpmWidget::getChannelDescriptions()
     return channelDesc;
 }
 
-void ConfigccpmWidget::UpdateType()
+void ConfigCcpmWidget::UpdateType()
 {
     int TypeInt,SingleServoIndex,NumServosDefined;
     QString TypeText;
@@ -483,12 +483,12 @@ void ConfigccpmWidget::UpdateType()
 /**
   Resets a mixer curve
   */
-void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
+void ConfigCcpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
 {
     mixer->initLinearCurve(numElements,(double)1);
 }
 
-void ConfigccpmWidget::UpdateCurveWidgets()
+void ConfigCcpmWidget::UpdateCurveWidgets()
 {
     int NumCurvePoints,i,Changed;
     QList<double> curveValues;
@@ -522,7 +522,7 @@ void ConfigccpmWidget::UpdateCurveWidgets()
     if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues);
 }
 
-void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
+void ConfigCcpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
 {
     Q_UNUSED(curveValues0);
     Q_UNUSED(Value0);
@@ -546,7 +546,7 @@ void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double V
 
 }
 
-void ConfigccpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
+void ConfigCcpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
 {
     Q_UNUSED(curveValues0);
     Q_UNUSED(Value0);
@@ -571,7 +571,7 @@ void ConfigccpmWidget::updateThrottleCurveValue(QList<double> curveValues0,doubl
 }
 
 
-void ConfigccpmWidget::UpdateCurveSettings()
+void ConfigCcpmWidget::UpdateCurveSettings()
 {
     int NumCurvePoints,i;
     double scale;
@@ -701,7 +701,7 @@ void ConfigccpmWidget::UpdateCurveSettings()
 UpdateCurveWidgets();
 
 }
-void ConfigccpmWidget::GenerateCurve()
+void ConfigCcpmWidget::GenerateCurve()
 {
    int NumCurvePoints,CurveToGenerate,i;
    double value1, value2, value3, scale;
@@ -771,7 +771,7 @@ void ConfigccpmWidget::GenerateCurve()
 
 }
 
-void ConfigccpmWidget::ccpmSwashplateRedraw()
+void ConfigCcpmWidget::ccpmSwashplateRedraw()
 {
     double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY;
     int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i;
@@ -872,14 +872,14 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
     //m_ccpm->SwashplateImage->fitInView(SwashplateImg, Qt::KeepAspectRatio);
 }
 
-void ConfigccpmWidget::ccpmSwashplateUpdate()
+void ConfigCcpmWidget::ccpmSwashplateUpdate()
 {
     ccpmSwashplateRedraw();
     SetUIComponentVisibilities();
     UpdateMixer();
 }
 
-void ConfigccpmWidget::UpdateMixer()
+void ConfigCcpmWidget::UpdateMixer()
 {
     bool useCCPM;
     bool useCyclic;
@@ -995,7 +995,7 @@ void ConfigccpmWidget::UpdateMixer()
     }
 
 }
-QString ConfigccpmWidget::updateConfigObjectsFromWidgets() //UpdateCCPMOptionsFromUI()
+QString ConfigCcpmWidget::updateConfigObjectsFromWidgets() //UpdateCCPMOptionsFromUI()
 {
     QString airframeType = "HeliCP";
 
@@ -1061,7 +1061,7 @@ QString ConfigccpmWidget::updateConfigObjectsFromWidgets() //UpdateCCPMOptionsFr
     return airframeType;
 }
 
-void ConfigccpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFromOptions()
+void ConfigCcpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFromOptions()
 {
     Q_UNUSED(frameType);
 
@@ -1106,8 +1106,10 @@ void ConfigccpmWidget::refreshWidgetsValues(QString frameType) //UpdateCCPMUIFro
 }
 
 
-void ConfigccpmWidget::SetUIComponentVisibilities()
+void ConfigCcpmWidget::SetUIComponentVisibilities()
 {
+    //mdl updateObjectsFromWidgets();
+
     GUIConfigDataUnion config = GetConfigData();
 
     //set which sliders are user...
@@ -1137,7 +1139,7 @@ void ConfigccpmWidget::SetUIComponentVisibilities()
 /**
   Request the current value of the SystemSettings which holds the ccpm type
   */
-void ConfigccpmWidget::getMixer()
+void ConfigCcpmWidget::getMixer()
 {
     if (SwashLvlConfigurationInProgress)return;
     if (updatingToHardware)return;
@@ -1167,7 +1169,7 @@ void ConfigccpmWidget::getMixer()
 /**
   Sends the config to the board (ccpm type)
   */
-void ConfigccpmWidget::setMixer()
+void ConfigCcpmWidget::setMixer()
 {
     int i,j;
 
@@ -1242,7 +1244,7 @@ void ConfigccpmWidget::setMixer()
 /**
   Send ccpm type to the board and request saving to SD card
   */
-void ConfigccpmWidget::saveccpmUpdate()
+void ConfigCcpmWidget::saveccpmUpdate()
 {
     if (SwashLvlConfigurationInProgress)return;
     ShowDisclaimer(0);
@@ -1254,7 +1256,7 @@ void ConfigccpmWidget::saveccpmUpdate()
     saveObjectToSD(obj);
 }
 
-void ConfigccpmWidget::resizeEvent(QResizeEvent* event)
+void ConfigCcpmWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
     // Make the custom table columns autostretch:
@@ -1266,7 +1268,7 @@ void ConfigccpmWidget::resizeEvent(QResizeEvent* event)
     ccpmSwashplateRedraw();
 
 }
-void ConfigccpmWidget::showEvent(QShowEvent *event)
+void ConfigCcpmWidget::showEvent(QShowEvent *event)
 {
     Q_UNUSED(event)
     m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
@@ -1278,7 +1280,7 @@ void ConfigccpmWidget::showEvent(QShowEvent *event)
 }
 
 
-void ConfigccpmWidget::SwashLvlStartButtonPressed()
+void ConfigCcpmWidget::SwashLvlStartButtonPressed()
 {
     QMessageBox msgBox;
     int i;
@@ -1377,7 +1379,7 @@ void ConfigccpmWidget::SwashLvlStartButtonPressed()
 
 
 }
-void ConfigccpmWidget::SwashLvlNextButtonPressed()
+void ConfigCcpmWidget::SwashLvlNextButtonPressed()
 {
     //ShowDisclaimer(2);
     SwashLvlState++;
@@ -1480,7 +1482,7 @@ void ConfigccpmWidget::SwashLvlNextButtonPressed()
         break;
     }
 }
-void ConfigccpmWidget::SwashLvlCancelButtonPressed()
+void ConfigCcpmWidget::SwashLvlCancelButtonPressed()
 {
     int i;
     SwashLvlState=0;
@@ -1528,7 +1530,7 @@ void ConfigccpmWidget::SwashLvlCancelButtonPressed()
 }
 
 
-void ConfigccpmWidget::SwashLvlFinishButtonPressed()
+void ConfigCcpmWidget::SwashLvlFinishButtonPressed()
 {
     int i;
 
@@ -1572,7 +1574,7 @@ void ConfigccpmWidget::SwashLvlFinishButtonPressed()
 
 }
 
-int ConfigccpmWidget::ShowDisclaimer(int messageID)
+int ConfigCcpmWidget::ShowDisclaimer(int messageID)
 {
      QMessageBox msgBox;
      msgBox.setText("<font color=red><h1>Warning!!!</h2></font>");
@@ -1621,7 +1623,7 @@ int ConfigccpmWidget::ShowDisclaimer(int messageID)
   Toggles the channel testing mode by making the GCS take over
   the ActuatorCommand objects
   */
-void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
+void ConfigCcpmWidget::enableSwashplateLevellingControl(bool state)
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@@ -1661,7 +1663,7 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
   Sets the swashplate level to a given value based on current settings for Max, Neutral and Min values.
   level ranges -1 to +1
   */
-void ConfigccpmWidget::setSwashplateLevel(int percent)
+void ConfigCcpmWidget::setSwashplateLevel(int percent)
 {
     if (percent<0)return;// -1;
     if (percent>100)return;// -1;
@@ -1696,7 +1698,7 @@ return;
 }
 
 
-void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
+void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
 {
     Q_UNUSED(value);
     int i;
@@ -1740,7 +1742,7 @@ void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
 /**
  This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
  */
-void ConfigccpmWidget::throwConfigError(QString airframeType)
+void ConfigCcpmWidget::throwConfigError(QString airframeType)
 {
     Q_UNUSED(airframeType);
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h

@@ -52,13 +52,13 @@ typedef struct {
 } SwashplateServoSettingsStruct;
 
 
-class ConfigccpmWidget: public VehicleConfig
+class ConfigCcpmWidget: public VehicleConfig
 {
     Q_OBJECT
 
 public:
-    ConfigccpmWidget(QWidget *parent = 0);
-    ~ConfigccpmWidget();
+    ConfigCcpmWidget(QWidget *parent = 0);
+    ~ConfigCcpmWidget();
 
     friend class ConfigVehicleTypeWidget;
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp

@@ -52,6 +52,9 @@
 ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
 {
     m_aircraft = aircraft;
+
+    //connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupUI(QString)));
+
 }
 
 /**
@@ -66,17 +69,23 @@ ConfigMultiRotorWidget::~ConfigMultiRotorWidget()
 void ConfigMultiRotorWidget::setupUI(QString frameType)
 {
     Q_ASSERT(m_aircraft);
+    Q_ASSERT(uiowner);
     Q_ASSERT(quad);
 
+    int i;
+
     // set aircraftType to Multirotor, disable triyaw channel
     setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Multirotor"));
     m_aircraft->triYawChannelBox->setEnabled(false);
 
     // disable all motor channel boxes
-    for (int i=1; i <=8; i++) {
-        QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-        if (combobox)
+    for (i=1; i <=8; i++) {
+        // do it manually so we can turn off any error decorations
+        QComboBox *combobox = qFindChild<QComboBox*>(uiowner, "multiMotorChannelBox" + QString::number(i));
+        if (combobox) {
             combobox->setEnabled(false);
+            combobox->setItemData(0, 0, Qt::DecorationRole);
+        }
     }
 
     if (frameType == "Tri" || frameType == "Tricopter Y") {
@@ -84,10 +93,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("tri");
 
 		//Enable all necessary motor channel boxes...
-		for (int i=1; i <=3; i++) {
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+        for (i=1; i <=3; i++) {
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}
 		
         m_aircraft->triYawChannelBox->setEnabled(true);
@@ -97,10 +104,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("quad-X");
 		
 		//Enable all necessary motor channel boxes...
-		for (int i=1; i <=4; i++) {
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+        for (i=1; i <=4; i++) {
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}
 
 		m_aircraft->mrRollMixLevel->setValue(50);
@@ -112,10 +117,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("quad-plus");
 		
 		//Enable all necessary motor channel boxes...
-		for (int i=1; i <=4; i++) {
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+        for (i=1; i <=4; i++) {
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}
 
 		m_aircraft->mrRollMixLevel->setValue(100);
@@ -128,10 +131,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("quad-hexa");
 		
 		//Enable all necessary motor channel boxes...
-		for (int i=1; i <=6; i++) {
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+        for (i=1; i <=6; i++) {
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}
 
 		m_aircraft->mrRollMixLevel->setValue(50);
@@ -143,10 +144,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("quad-hexa-H");
 		
 		//Enable all necessary motor channel boxes...
-		for (int i=1; i <=6; i++) {
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+        for (i=1; i <=6; i++) {
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}
 
 		m_aircraft->mrRollMixLevel->setValue(33);
@@ -160,10 +159,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("hexa-coax");
 		
 		//Enable all necessary motor channel boxes...
-		for (int i=1; i <=6; i++) {
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+        for (i=1; i <=6; i++) {
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}
 
 		m_aircraft->mrRollMixLevel->setValue(100);
@@ -177,10 +174,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("quad-octo");
 		
 		//Enable all necessary motor channel boxes
-		for (int i=1; i <=8; i++) {
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+        for (i=1; i <=8; i++) {
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}		
 
 		m_aircraft->mrRollMixLevel->setValue(33);
@@ -193,10 +188,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("quad-octo-v");
 
 		//Enable all necessary motor channel boxes
-		for (int i=1; i <=8; i++) {
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+        for (i=1; i <=8; i++) {
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}		
 
 		m_aircraft->mrRollMixLevel->setValue(25);
@@ -211,9 +204,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 
 		//Enable all necessary motor channel boxes
 		for (int i=1; i <=8; i++) {            
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}		
 
 		m_aircraft->mrRollMixLevel->setValue(100);
@@ -228,9 +219,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 
 		//Enable all necessary motor channel boxes
 		for (int i=1; i <=8; i++) {            
-            QComboBox *combobox = qFindChild<QComboBox*>(this->parent(), "multiMotorChannelBox" + QString::number(i));
-            if (combobox)
-                combobox->setEnabled(true);
+            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}		
 
 		m_aircraft->mrRollMixLevel->setValue(50);
@@ -1125,27 +1114,17 @@ void ConfigMultiRotorWidget::throwConfigError(int numMotors)
 	//Iterate through all instances of multiMotorChannelBox
 	for (int i=0; i<numMotors; i++) {
 		//Fine widgets with text "multiMotorChannelBox.x", where x is an integer
-        QComboBox *combobox = qFindChild<QComboBox*>(this, "multiMotorChannelBox" + QString::number(i+1));
-		if (combobox){  //if QLabel exists
-//			QLabel *label = qFindChild<QLabel*>(this, "MotorOutputLabel" + QString::number(i+1));
-
-			if (combobox->currentText() == "None") {
-
-//				label->setText("<font color='red'>" + label->text() + "</font>");
-			
+        QComboBox *combobox = qFindChild<QComboBox*>(uiowner, "multiMotorChannelBox" + QString::number(i+1));
+        if (combobox){
+            if (combobox->currentText() == "None") {
 				int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
 				QPixmap pixmap(size,size);
 				pixmap.fill(QColor("red"));
-				combobox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes 
-//				combobox->setStyleSheet("QComboBox { color: red}");
+                combobox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
 				error=true;
-
 			}
 			else {
-				combobox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes 
-//				combobox->setStyleSheet("color: black;");
-//				QTextEdit* htmlText=new QTextEdit(label->text());  // htmlText is any QString with html tags.
-//				label->setText(htmlText->toPlainText());
+                combobox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
 			}
 		}
 	}

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h

@@ -53,6 +53,7 @@ public:
 private:
     Ui_AircraftWidget *m_aircraft;
 
+    QWidget *uiowner;
     QGraphicsSvgItem *quad;
 
     bool setupQuad(bool pLayout);
@@ -74,6 +75,8 @@ private slots:
 
 protected:
 
+signals:
+    void configurationChanged();
 
 };
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp

@@ -36,9 +36,12 @@
 
 VehicleConfig::VehicleConfig(QWidget *parent) : ConfigTaskWidget(parent)
 {
+    //Generate lists of mixerTypeNames, mixerVectorNames, channelNames
+    channelNames << "None";
     for (int i = 0; i < (int)(VehicleConfig::CHANNEL_NUMELEM); i++) {
         mixerTypes << QString("Mixer%1Type").arg(i+1);
         mixerVectors << QString("Mixer%1Vector").arg(i+1);
+        channelNames << QString("Channel%1").arg(i+1);
     }
 }
 
@@ -119,6 +122,17 @@ void VehicleConfig::setComboCurrentIndex(QComboBox* box, int index)
         box->setCurrentIndex(index);
 }
 
+/**
+  Helper function:
+  enables/disables the named combobox within supplied uiowner
+ */
+void VehicleConfig::enableComboBox(QWidget* owner, QString boxName, bool enable)
+{
+    QComboBox* box = qFindChild<QComboBox*>(owner, boxName);
+    if (box)
+        box->setEnabled(enable);
+}
+
 
 /**
   Reset the contents of a field

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h

@@ -115,10 +115,12 @@ class VehicleConfig: public ConfigTaskWidget
         static void SetConfigData(GUIConfigDataUnion configData);
         static void resetField(UAVObjectField * field);
         static void setComboCurrentIndex(QComboBox* box, int index);
+        static void enableComboBox(QWidget* owner, QString boxName, bool enable);
 
         virtual void ResetActuators(GUIConfigDataUnion* configData);
         virtual QStringList getChannelDescriptions();
 
+        QStringList channelNames;
         QStringList mixerTypes;
         QStringList mixerVectors;
 

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

@@ -106,13 +106,12 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     ffTuningInProgress = false;
     ffTuningPhase = false;
 
-	//Generate list of channels
-    QStringList channels;
-    channels << "None";
+    //Generate lists of mixerTypeNames, mixerVectorNames, channelNames
+    channelNames << "None";
     for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
         mixerTypes << QString("Mixer%1Type").arg(i+1);
         mixerVectors << QString("Mixer%1Vector").arg(i+1);
-        channels << QString("Channel%1").arg(i+1);
+        channelNames << QString("Channel%1").arg(i+1);
     }
 
     QStringList airframeTypes;
@@ -142,7 +141,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
 	//  The upshot of this is that ALL new ComboBox widgets for selecting the output channel must have "ChannelBox" in their name
 	foreach(QComboBox *combobox, this->findChildren<QComboBox*>(QRegExp("\\S+ChannelBo\\S+")))//FOR WHATEVER REASON, THIS DOES NOT WORK WITH ChannelBox. ChannelBo is sufficiently accurate
 	{
-        combobox->addItems(channels);
+        combobox->addItems(channelNames);
     }
 	
     // Setup the Multirotor picture in the Quad settings interface
@@ -173,19 +172,27 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
         m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
     }
 
-    m_multirotor = new ConfigMultiRotorWidget(m_aircraft, this);
+    // create and setup a MultiRotor config widget
+    m_multirotor = new ConfigMultiRotorWidget(m_aircraft);
     m_multirotor->quad = quad;
+    m_multirotor->uiowner = this;
     m_multirotor->setupUI(m_aircraft->multirotorFrameType->currentText());
 
-    m_groundvehicle = new ConfigGroundVehicleWidget(m_aircraft, this);
+    // create and setup a GroundVehicle config widget
+    m_groundvehicle = new ConfigGroundVehicleWidget(m_aircraft);
     m_groundvehicle->setupUI(m_aircraft->groundVehicleType->currentText() );
 
-    m_fixedwing = new ConfigFixedWingWidget(m_aircraft, this);
+    // create and setup a FixedWing config widget
+    m_fixedwing = new ConfigFixedWingWidget(m_aircraft);
     m_fixedwing->setupUI(m_aircraft->fixedWingType->currentText() );
 
-    m_heli = m_aircraft->widget_3;// new ConfigccpmWidget(this);
+    // create and setup a Helicopter config widget
+    m_heli = m_aircraft->widget_3;
     m_heli->setupUI(QString("HeliCP"));
 
+    // initialize the ui to show the mixersettings tab
+    //mdl m_aircraft->tabWidget->setCurrentIndex(0);
+
 	//Connect aircraft type selection dropbox to callback function
     connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
 	
@@ -238,6 +245,11 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
    // Do nothing
 }
 
+/**
+  Static function to get currently assigned channelDescriptions
+  for all known vehicle types;  instantiates the appropriate object
+  then asks it to supply channel descs
+  */
 QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
 {    
     int i;
@@ -267,7 +279,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
         // helicp
         case SystemSettings::AIRFRAMETYPE_HELICP:
         {
-            ConfigccpmWidget* heli = new ConfigccpmWidget();
+            ConfigCcpmWidget* heli = new ConfigCcpmWidget();
             channelDesc = heli->getChannelDescriptions();
         }
         break;
@@ -402,7 +414,6 @@ void ConfigVehicleTypeWidget::toggleRudder2(int index)
     }
 }
 
-
 /////////////////////////////////////////////////////////
 /// Feed Forward Testing
 /////////////////////////////////////////////////////////

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

@@ -58,7 +58,7 @@ public:
 private:
     Ui_AircraftWidget *m_aircraft;
 
-    ConfigccpmWidget *m_heli;
+    ConfigCcpmWidget *m_heli;
     ConfigFixedWingWidget *m_fixedwing;
     ConfigMultiRotorWidget *m_multirotor;
     ConfigGroundVehicleWidget *m_groundvehicle;
@@ -70,9 +70,10 @@ private:
 
     //void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
 
-
+    QStringList channelNames;
     QStringList mixerTypes;
     QStringList mixerVectors;
+
     QGraphicsSvgItem *quad;
     bool ffTuningInProgress;
     bool ffTuningPhase;
@@ -85,7 +86,6 @@ private slots:
 
     void setComboCurrentIndex(QComboBox* box, int index);
 
-
     void setupAirframeUI(QString type);
 	
     void toggleAileron2(int index);