Merge remote-tracking branch 'origin/next' into laurent/OP-1337_French_translations_updates

.gitignore

@@ -24,6 +24,9 @@ core
 
 # ground
 openpilotgcs-build-desktop
+ground/openpilotgcs/.cproject
+ground/openpilotgcs/.project
+ground/openpilotgcs/.settings
 
 # Ignore some of the .pro.user files
 *.pro.user

Makefile

@@ -747,7 +747,7 @@ ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
 
     # Packaged GCS should depend on opfw_resource
     ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
-        $(eval openpilotgcs: $(OPFW_RESOURCE))
+        $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
     endif
 
     # Clean the build directory if clean_package is requested

flight/libraries/alarms.c

@@ -254,6 +254,33 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
     xSemaphoreGiveRecursive(lock);
     return 0;
 }
+/**
+ * Get the highest alarm severity
+ * @return
+ */
+SystemAlarmsAlarmOptions AlarmsGetHighestSeverity()
+{
+    SystemAlarmsAlarmData alarmsData;
+    SystemAlarmsAlarmOptions highest = SYSTEMALARMS_ALARM_UNINITIALISED;
+
+    // Lock
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+    // Read alarms
+    SystemAlarmsAlarmGet(&alarmsData);
+
+    // Go through alarms and find the highest severity
+    uint32_t n = 0;
+    while (n < SYSTEMALARMS_ALARM_NUMELEM && highest != SYSTEMALARMS_ALARM_CRITICAL) {
+        if (cast_struct_to_array(alarmsData, alarmsData.Actuator)[n] > highest) {
+            highest = cast_struct_to_array(alarmsData, alarmsData.Actuator)[n];
+        }
+        n++;
+    }
+
+    xSemaphoreGiveRecursive(lock);
+    return highest;
+}
 
 /**
  * @}

flight/libraries/inc/alarms.h

@@ -42,9 +42,11 @@ int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
 void AlarmsDefaultAll();
 int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
 void AlarmsClearAll();
+
 int32_t AlarmsHasWarnings();
 int32_t AlarmsHasErrors();
 int32_t AlarmsHasCritical();
+SystemAlarmsAlarmOptions AlarmsGetHighestSeverity();
 
 #endif // ALARMS_H
 

flight/libraries/inc/notification.h

@@ -0,0 +1,38 @@
+/**
+ ******************************************************************************
+ *
+ * @file       notification.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      notification library
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef NOTIFICATION_H
+#define NOTIFICATION_H
+
+// period of each blink phase
+#define LED_BLINK_PERIOD_MS 200
+
+// update the status snapshot used by notifcations
+void NotificationUpdateStatus();
+
+// run the led notifications
+void NotificationOnboardLedsRun();
+
+#endif /* NOTIFICATION_H */

flight/libraries/notification.c

@@ -0,0 +1,296 @@
+/**
+ ******************************************************************************
+ *
+ * @file       notification.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      notification library.
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "inc/notification.h"
+#include <openpilot.h>
+#include <pios_struct_helper.h>
+#include <systemalarms.h>
+#include <flightstatus.h>
+#include <pios_notify.h>
+
+#ifdef PIOS_LED_ALARM
+#define ALARM_LED_ON()  PIOS_LED_On(PIOS_LED_ALARM)
+#define ALARM_LED_OFF() PIOS_LED_Off(PIOS_LED_ALARM)
+#else
+#define ALARM_LED_ON()
+#define ALARM_LED_OFF()
+#endif
+
+#ifdef PIOS_LED_HEARTBEAT
+#define HEARTBEAT_LED_ON()  PIOS_LED_On(PIOS_LED_HEARTBEAT)
+#define HEARTBEAT_LED_OFF() PIOS_LED_Off(PIOS_LED_HEARTBEAT)
+#else
+#define HEARTBEAT_LED_ON()
+#define HEARTBEAT_LED_OFF()
+#endif
+
+#define BLINK_R_ALARM_PATTERN(x) \
+    (x == SYSTEMALARMS_ALARM_OK ? 0 : \
+     x == SYSTEMALARMS_ALARM_WARNING ? 0b0000000001000000 : \
+     x == SYSTEMALARMS_ALARM_ERROR ? 0b0000001000100000 : \
+     x == SYSTEMALARMS_ALARM_CRITICAL ? 0b0111111111111110 : 0)
+#define BLINK_B_ALARM_PATTERN(x) \
+    (x == SYSTEMALARMS_ALARM_OK ? 0 : \
+     x == SYSTEMALARMS_ALARM_WARNING ? 0 : \
+     x == SYSTEMALARMS_ALARM_ERROR ? 0 : \
+     x == SYSTEMALARMS_ALARM_CRITICAL ? 0 : 0)
+
+
+#define BLINK_B_FM_ARMED_PATTERN(x) \
+    (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000100001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000010000100001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000100001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000010000100001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000010000100001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001000100010001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001000100010001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000010000100001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000010000100001 : 0b0000000000000001)
+
+#define BLINK_R_FM_ARMED_PATTERN(x) \
+    (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000000000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000000001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000000000000001 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000010000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001000100000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001000100000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000010000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000010000000000 : 0b0000010000000000)
+
+#define BLINK_B_FM_DISARMED_PATTERN(x) \
+    (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000001100011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000110001100011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000001100011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000110001100011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000110001100011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0011001100110011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0011001100110011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000110001100011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000110001100011 : 0b0000000000000011)
+
+#define BLINK_R_FM_DISARMED_PATTERN(x) \
+    (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000000000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000000011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000000000000011 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000110000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0011001100000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0011001100000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000110000000000 : \
+     x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000110000000000 : 0b0000110000000000)
+
+#define BLINK_B_HEARTBEAT_PATTERN 0b0001111111111111
+#define BLINK_R_HEARTBEAT_PATTERN 0
+
+#define BLINK_B_NOTIFY_PATTERN(x) \
+    (x == NOTIFY_NONE ? 0 : \
+     x == NOTIFY_OK ? 0b0000100100111111 : \
+     x == NOTIFY_NOK ? 0b0000000000111111 : \
+     x == NOTIFY_DRAW_ATTENTION ? 0b0101010101010101 : 0b0101010101010101)
+
+#define BLINK_R_NOTIFY_PATTERN(x) \
+    (x == NOTIFY_NONE ? 0 : \
+     x == NOTIFY_OK ? 0b0000000000001111 : \
+     x == NOTIFY_NOK ? 0b0011000011001111 : \
+     x == NOTIFY_DRAW_ATTENTION ? 0b1010101010101010 : 0b1010101010101010)
+
+// led notification handling
+static volatile SystemAlarmsAlarmOptions currentAlarmLevel = SYSTEMALARMS_ALARM_OK;
+static volatile FlightStatusData currentFlightStatus;
+static volatile bool started = false;
+static volatile pios_notify_notification nextNotification = NOTIFY_NONE;
+
+#ifdef PIOS_LED_ALARM
+static bool handleAlarms(uint16_t *r_pattern, uint16_t *b_pattern);
+#endif // PIOS_LED_ALARM
+static bool handleNotifications(pios_notify_notification runningNotification, uint16_t *r_pattern, uint16_t *b_pattern);
+static void handleFlightMode(uint16_t *r_pattern, uint16_t *b_pattern);
+static void handleHeartbeat(uint16_t *r_pattern, uint16_t *b_pattern);
+void NotificationUpdateStatus()
+{
+    started = true;
+    // get values to be used for led handling
+    FlightStatusGet((FlightStatusData *)&currentFlightStatus);
+    currentAlarmLevel = AlarmsGetHighestSeverity();
+    if (nextNotification == NOTIFY_NONE) {
+        nextNotification = PIOS_NOTIFY_GetActiveNotification(true);
+    }
+}
+
+void NotificationOnboardLedsRun()
+{
+    static portTickType lastRunTimestamp;
+    static uint16_t r_pattern;
+    static uint16_t b_pattern;
+    static uint8_t cycleCount; // count the number of cycles
+    static uint8_t lastFlightMode   = -1;
+    static bool forceShowFlightMode = false;
+    static pios_notify_notification runningNotification = NOTIFY_NONE;
+    static enum {
+        STATUS_NOTIFY,
+        STATUS_ALARM,
+        STATUS_FLIGHTMODE, // flightMode/HeartBeat
+        STATUS_LENGHT
+    } status;
+
+    if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 4)) {
+        return;
+    }
+
+    lastRunTimestamp = xTaskGetTickCount();
+    // the led will show various status information, subdivided in three phases
+    // - Notification
+    // - Alarm
+    // - Flight status
+    // they are shown using the above priority
+    // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end
+
+    cycleCount++;
+    // Notifications are "modal" to other statuses so they takes precedence
+    if (status != STATUS_NOTIFY && nextNotification != NOTIFY_NONE) {
+        // read next notification to show
+        runningNotification = nextNotification;
+        nextNotification    = NOTIFY_NONE;
+        // Force a notification status
+        status     = STATUS_NOTIFY;
+        cycleCount = 0; // instantly start a notify cycle
+    } else {
+        if (lastFlightMode != currentFlightStatus.FlightMode) {
+            status         = STATUS_FLIGHTMODE;
+            lastFlightMode = currentFlightStatus.FlightMode;
+            cycleCount     = 0; // instantly start a flightMode cycle
+            forceShowFlightMode = true;
+        }
+    }
+
+    // check if a phase has just finished
+    if (cycleCount & 0x10) {
+        HEARTBEAT_LED_OFF();
+        ALARM_LED_OFF();
+        cycleCount = 0x0;
+        forceShowFlightMode = false;
+        // Notification has been just shown, cleanup
+        if (status == STATUS_NOTIFY) {
+            runningNotification = NOTIFY_NONE;
+        }
+        status = (status + 1) % STATUS_LENGHT;
+    }
+
+    if (status == STATUS_NOTIFY) {
+        if (!cycleCount && !handleNotifications(runningNotification, &r_pattern, &b_pattern)) {
+            // no notifications, advance
+            status++;
+        }
+    }
+
+    // Handles Alarm display
+    if (status == STATUS_ALARM) {
+#ifdef PIOS_LED_ALARM
+        if (!cycleCount && !handleAlarms(&r_pattern, &b_pattern)) {
+            // no alarms, advance
+            status++;
+        }
+#else
+        // no alarms leds, advance
+        status++;
+#endif // PIOS_LED_ALARM
+    }
+
+    // **** Handles flightmode display
+    if (status == STATUS_FLIGHTMODE && !cycleCount) {
+        if (forceShowFlightMode || currentFlightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
+            handleFlightMode(&r_pattern, &b_pattern);
+        } else {
+            handleHeartbeat(&r_pattern, &b_pattern);
+        }
+    }
+
+    // led output
+    if (b_pattern & 0x1) {
+        HEARTBEAT_LED_ON();
+    } else {
+        HEARTBEAT_LED_OFF();
+    }
+    if (r_pattern & 0x1) {
+        ALARM_LED_ON();
+    } else {
+        ALARM_LED_OFF();
+    }
+    r_pattern >>= 1;
+    b_pattern >>= 1;
+}
+
+#if defined(PIOS_LED_ALARM)
+static bool handleAlarms(uint16_t *r_pattern, uint16_t *b_pattern)
+{
+    if (currentAlarmLevel == SYSTEMALARMS_ALARM_OK) {
+        return false;
+    }
+    *b_pattern = BLINK_B_ALARM_PATTERN(currentAlarmLevel);
+    *r_pattern = BLINK_R_ALARM_PATTERN(currentAlarmLevel);
+    return true;
+}
+#endif /* PIOS_LED_ALARM */
+
+
+static bool handleNotifications(pios_notify_notification runningNotification, uint16_t *r_pattern, uint16_t *b_pattern)
+{
+    if (runningNotification == NOTIFY_NONE) {
+        return false;
+    }
+    *b_pattern = BLINK_B_NOTIFY_PATTERN(runningNotification);
+    *r_pattern = BLINK_R_NOTIFY_PATTERN(runningNotification);
+    return true;
+}
+
+static void handleFlightMode(uint16_t *r_pattern, uint16_t *b_pattern)
+{
+    // Flash the heartbeat LED
+    uint8_t flightmode = currentFlightStatus.FlightMode;
+
+    if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
+        *b_pattern = BLINK_B_FM_DISARMED_PATTERN(flightmode);
+        *r_pattern = BLINK_R_FM_DISARMED_PATTERN(flightmode);
+    } else {
+        *b_pattern = BLINK_B_FM_ARMED_PATTERN(flightmode);
+        *r_pattern = BLINK_R_FM_ARMED_PATTERN(flightmode);
+    }
+}
+
+static void handleHeartbeat(uint16_t *r_pattern, uint16_t *b_pattern)
+{
+    // Flash the heartbeat LED
+    *b_pattern = BLINK_B_HEARTBEAT_PATTERN;
+    *r_pattern = BLINK_R_HEARTBEAT_PATTERN;
+}

flight/modules/Airspeed/airspeed.c

@@ -60,7 +60,7 @@
 static xTaskHandle taskHandle;
 static bool airspeedEnabled  = false;
 static AirspeedSettingsData airspeedSettings;
-static AirspeedSettingsAirspeedSensorTypeOptions lastAirspeedSensorType = 0;
+static AirspeedSettingsAirspeedSensorTypeOptions lastAirspeedSensorType = -1;
 static int8_t airspeedADCPin = -1;
 
 
@@ -119,8 +119,6 @@ int32_t AirspeedInitialize()
         }
     }
 
-    lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
-
     AirspeedSensorInitialize();
     AirspeedSettingsInitialize();
 
@@ -137,17 +135,14 @@ MODULE_INITCALL(AirspeedInitialize, AirspeedStart);
 static void airspeedTask(__attribute__((unused)) void *parameters)
 {
     AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
-
+    bool gpsAirspeedInitialized = false;
     AirspeedSensorData airspeedData;
     AirspeedSensorGet(&airspeedData);
 
     AirspeedSettingsUpdatedCb(NULL);
 
-    gps_airspeedInitialize();
-
     airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
 
-
     // Main task loop
     portTickType lastSysTime = xTaskGetTickCount();
     while (1) {
@@ -160,8 +155,21 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
         if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
             AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
             lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
+            switch (airspeedSettings.AirspeedSensorType) {
+            case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
+                // AirspeedSensor will not be updated until a different sensor is selected
+                // set the disconencted satus now
+                airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
+                AirspeedSensorSet(&airspeedData);
+                break;
+            case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
+                if (!gpsAirspeedInitialized) {
+                    gpsAirspeedInitialized = true;
+                    gps_airspeedInitialize();
+                }
+                break;
+            }
         }
-
         switch (airspeedSettings.AirspeedSensorType) {
 #if defined(PIOS_INCLUDE_MPXV)
         case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
@@ -186,6 +194,10 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
             gps_airspeedGet(&airspeedData, &airspeedSettings);
             break;
         case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
+            // no need to check so often until a sensor is enabled
+            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
+            vTaskDelay(2000 / portTICK_RATE_MS);
+            continue;
         default:
             airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
             break;

flight/modules/Attitude/attitude.c

@@ -63,7 +63,7 @@
 #include "taskinfo.h"
 
 #include "CoordinateConversions.h"
-
+#include <pios_notify.h>
 
 // Private constants
 #define STACK_SIZE_BYTES 540
@@ -252,6 +252,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
             rollPitchBiasRate    = 0.01f;
             accel_filter_enabled = false;
             init = 0;
+            PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR);
         } else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
             accelKp     = 1.0f;
             accelKi     = 0.0f;
@@ -259,6 +260,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
             rollPitchBiasRate    = 0.01f;
             accel_filter_enabled = false;
             init = 0;
+            PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR);
         } else if (init == 0) {
             // Reload settings (all the rates)
             AttitudeSettingsAccelKiGet(&accelKi);

flight/modules/GPS/GPS.c

@@ -63,21 +63,24 @@ static float GravityAccel(float latitude, float longitude, float altitude);
 // ****************
 // Private constants
 
-#define GPS_TIMEOUT_MS           500
+#define GPS_TIMEOUT_MS             500
-
+// delay from detecting HomeLocation.Set == False before setting new homelocation
+// this prevent that a save with homelocation.Set = false triggered by gps ends saving
+// the new location with Set = true.
+#define GPS_HOMELOCATION_SET_DELAY 5000
 
 #ifdef PIOS_GPS_SETS_HOMELOCATION
 // Unfortunately need a good size stack for the WMM calculation
-        #define STACK_SIZE_BYTES 1024
+        #define STACK_SIZE_BYTES   1024
 #else
 #if defined(PIOS_GPS_MINIMAL)
-        #define STACK_SIZE_BYTES 500
+        #define STACK_SIZE_BYTES   500
 #else
-        #define STACK_SIZE_BYTES 650
+        #define STACK_SIZE_BYTES   650
 #endif // PIOS_GPS_MINIMAL
 #endif // PIOS_GPS_SETS_HOMELOCATION
 
-#define TASK_PRIORITY            (tskIDLE_PRIORITY + 1)
+#define TASK_PRIORITY              (tskIDLE_PRIORITY + 1)
 
 // ****************
 // Private variables
@@ -200,6 +203,9 @@ static void gpsTask(__attribute__((unused)) void *parameters)
     portTickType xDelay = 100 / portTICK_RATE_MS;
     uint32_t timeNowMs  = xTaskGetTickCount() * portTICK_RATE_MS;
 
+#ifdef PIOS_GPS_SETS_HOMELOCATION
+    portTickType homelocationSetDelay = 0;
+#endif
     GPSPositionSensorData gpspositionsensor;
     GPSSettingsData gpsSettings;
 
@@ -260,7 +266,15 @@ static void gpsTask(__attribute__((unused)) void *parameters)
                 HomeLocationGet(&home);
 
                 if (home.Set == HOMELOCATION_SET_FALSE) {
-                    setHomeLocation(&gpspositionsensor);
+                    if (homelocationSetDelay == 0) {
+                        homelocationSetDelay = xTaskGetTickCount();
+                    }
+                    if (xTaskGetTickCount() - homelocationSetDelay > GPS_HOMELOCATION_SET_DELAY) {
+                        setHomeLocation(&gpspositionsensor);
+                        homelocationSetDelay = 0;
+                    }
+                } else {
+                    homelocationSetDelay = 0;
                 }
 #endif
             } else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&

flight/modules/ManualControl/armhandler.c

@@ -274,6 +274,9 @@ static bool okToArm(void)
     case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
     case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
     case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
+    case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
+    case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
+    case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
         return true;
 
         break;

flight/modules/StateEstimation/filtercf.c

@@ -42,7 +42,7 @@
 #include <revocalibration.h>
 
 #include <CoordinateConversions.h>
-
+#include <pios_notify.h>
 // Private constants
 
 #define STACK_REQUIRED          512
@@ -295,6 +295,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
         this->accel_filter_enabled   = false;
         this->rollPitchBiasRate      = 0.01f;
         this->attitudeSettings.MagKp = this->magCalibrated ? 1.0f : 0.0f;
+        PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR);
     } else if ((this->attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
         this->attitudeSettings.AccelKp     = 1.0f;
         this->attitudeSettings.AccelKi     = 0.0f;
@@ -303,6 +304,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
         this->rollPitchBiasRate      = 0.01f;
         this->attitudeSettings.MagKp = this->magCalibrated ? 1.0f : 0.0f;
         this->init = 0;
+        PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR);
     } else if (this->init == 0) {
         // Reload settings (all the rates)
         AttitudeSettingsGet(&this->attitudeSettings);

flight/modules/System/systemmod.c

@@ -42,7 +42,7 @@
 #include <pios_struct_helper.h>
 // private includes
 #include "inc/systemmod.h"
-
+#include "notification.h"
 
 // UAVOs
 #include <objectpersistence.h>
@@ -72,22 +72,15 @@
 #endif
 
 // Private constants
-#define SYSTEM_UPDATE_PERIOD_MS        1000
+#define SYSTEM_UPDATE_PERIOD_MS 250
-#define LED_BLINK_RATE_HZ              5
-
-#ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
-#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
-// must be updated if the FreeRTOS or compiler
-// optimisation options are changed.
-#endif
 
 #if defined(PIOS_SYSTEM_STACK_SIZE)
-#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
+#define STACK_SIZE_BYTES        PIOS_SYSTEM_STACK_SIZE
 #else
-#define STACK_SIZE_BYTES 1024
+#define STACK_SIZE_BYTES        1024
 #endif
 
-#define TASK_PRIORITY    (tskIDLE_PRIORITY + 1)
+#define TASK_PRIORITY           (tskIDLE_PRIORITY + 1)
 
 // Private types
 
@@ -98,6 +91,7 @@ static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_C
 static bool mallocFailed;
 static HwSettingsData bootHwSettings;
 static struct PIOS_FLASHFS_Stats fsStats;
+
 // Private functions
 static void objectUpdatedCb(UAVObjEvent *ev);
 static void hwSettingsUpdatedCb(UAVObjEvent *ev);
@@ -170,8 +164,6 @@ MODULE_INITCALL(SystemModInitialize, 0);
  */
 static void systemTask(__attribute__((unused)) void *parameters)
 {
-    uint8_t cycleCount = 0;
-
     /* create all modules thread */
     MODULE_TASKCREATE_ALL;
 
@@ -189,9 +181,6 @@ static void systemTask(__attribute__((unused)) void *parameters)
     /* Record a successful boot */
     PIOS_IAP_WriteBootCount(0);
 #endif
-
-    // Initialize vars
-
     // Listen for SettingPersistance object updates, connect a callback function
     ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
@@ -204,13 +193,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
     TaskInfoData taskInfoData;
     CallbackInfoData callbackInfoData;
 #endif
-
     // Main system loop
     while (1) {
+        NotificationUpdateStatus();
         // Update the system statistics
-
-        cycleCount = cycleCount > 0 ? cycleCount - 1 : 7;
-// if(cycleCount == 1){
         updateStats();
         // Update the system alarms
         updateSystemAlarms();
@@ -230,35 +216,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
 // }
 #endif
 // }
-        // Flash the heartbeat LED
-#if defined(PIOS_LED_HEARTBEAT)
-        uint8_t armingStatus;
-        FlightStatusArmedGet(&armingStatus);
-        if ((armingStatus == FLIGHTSTATUS_ARMED_ARMED && (cycleCount & 0x1)) ||
-            (armingStatus != FLIGHTSTATUS_ARMED_ARMED && (cycleCount & 0x4))) {
-            PIOS_LED_On(PIOS_LED_HEARTBEAT);
-        } else {
-            PIOS_LED_Off(PIOS_LED_HEARTBEAT);
-        }
-
-        DEBUG_MSG("+ 0x%08x\r\n", 0xDEADBEEF);
-#endif /* PIOS_LED_HEARTBEAT */
-
-        // Turn on the error LED if an alarm is set
-#if defined(PIOS_LED_ALARM)
-        if (AlarmsHasCritical()) {
-            PIOS_LED_On(PIOS_LED_ALARM);
-        } else if ((AlarmsHasErrors() && (cycleCount & 0x1)) ||
-                   (!AlarmsHasErrors() && AlarmsHasWarnings() && (cycleCount & 0x4))) {
-            PIOS_LED_On(PIOS_LED_ALARM);
-        } else {
-            PIOS_LED_Off(PIOS_LED_ALARM);
-        }
-#endif /* PIOS_LED_ALARM */
 
 
         UAVObjEvent ev;
-        int delayTime = SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2);
+        int delayTime = SYSTEM_UPDATE_PERIOD_MS;
 
 #if defined(PIOS_INCLUDE_RFM22B)
 
@@ -633,7 +594,7 @@ static void updateSystemAlarms()
     UAVObjClearStats();
     EventClearStats();
     if (objStats.eventCallbackErrors > 0 || objStats.eventQueueErrors > 0 || evStats.eventErrors > 0) {
-        AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
+        AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_ERROR);
     } else {
         AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
     }
@@ -649,11 +610,12 @@ static void updateSystemAlarms()
 }
 
 /**
- * Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
+ * Called by the RTOS when the CPU is idle,
  */
 void vApplicationIdleHook(void)
-{}
+{
-
+    NotificationOnboardLedsRun();
+}
 /**
  * Called by the RTOS when a stack overflow is detected.
  */

flight/modules/Telemetry/telemetry.c

@@ -661,11 +661,10 @@ static void updateTelemetryStats()
         flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
     }
 
-    // Update the telemetry alarm
+    // TODO: check whether is there any error condition worth raising an alarm
+    // Disconnection is actually a normal (non)working status so it is not raising alarms anymore.
     if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
         AlarmsClear(SYSTEMALARMS_ALARM_TELEMETRY);
-    } else {
-        AlarmsSet(SYSTEMALARMS_ALARM_TELEMETRY, SYSTEMALARMS_ALARM_ERROR);
     }
 
     // Update object

flight/pios/common/pios_notify.c

@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_notify.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      Handles user notifications.
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pios_notify.h"
+
+static volatile pios_notify_notification currentNotification = NOTIFY_NONE;
+static volatile pios_notify_priority currentPriority;
+
+
+void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority)
+{
+    if (currentNotification == NOTIFY_NONE || currentPriority < priority) {
+        currentPriority     = priority;
+        currentNotification = notification;
+    }
+}
+
+pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear)
+{
+    pios_notify_notification ret = currentNotification;
+
+    if (clear && ret != NOTIFY_NONE) {
+        currentNotification = NOTIFY_NONE;
+    }
+    return ret;
+}

flight/pios/inc/pios_notify.h

@@ -0,0 +1,58 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_notify.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      Handles user notifications.
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef PIOS_NOTIFY_H_
+#define PIOS_NOTIFY_H_
+#include <stdbool.h>
+
+typedef enum {
+    NOTIFY_NONE = 0,
+    NOTIFY_OK,
+    NOTIFY_NOK,
+    NOTIFY_DRAW_ATTENTION
+} pios_notify_notification;
+
+typedef enum {
+    NOTIFY_PRIORITY_CRITICAL = 2,
+    NOTIFY_PRIORITY_REGULAR  = 1,
+    NOTIFY_PRIORITY_LOW = 0,
+} pios_notify_priority;
+
+/**
+ * start a new notification. If a notification is active it will be overwritten if its priority is lower than the new one.
+ * The new will be discarded otherwise
+ * @param notification kind of notification
+ * @param priority priority of the new notification
+ */
+void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority);
+
+/**
+ * retrieve any active notification
+ * @param clear
+ * @return
+ */
+pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear);
+
+#endif /* PIOS_NOTIFY_H_ */

flight/pios/inc/pios_ws2811.h

@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_ws2811.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      A driver for ws2811 rgb led controller.
+ *             this is a plain PiOS port of the very clever solution
+ *             implemented by Omri Iluz in the chibios driver here:
+ *             https://github.com/omriiluz/WS2812B-LED-Driver-ChibiOS
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef PIOS_WS2811_H_
+#define PIOS_WS2811_H_
+
+#include <stdint.h>
+#include <pios_gpio.h>
+#include <pios_stm32.h>
+#include <pios_gpio_priv.h>
+#include <stm32f4xx.h>
+#include <stm32f4xx_tim.h>
+#include <stm32f4xx_dma.h>
+
+
+#define sign(x) ((x > 0) - (x < 0))
+#define PIOS_WS2811_NUMLEDS            2
+#define PIOS_WS2811_BUFFER_SIZE        (((PIOS_WS2811_NUMLEDS) * 24))
+#define PIOS_WS2811_MEMORYDATASIZE     DMA_MemoryDataSize_HalfWord
+#define PIOS_WS2811_PERIPHERALDATASIZE DMA_PeripheralDataSize_HalfWord
+#define PIOS_WS2811_TIM_PERIOD         20
+
+// Following times are keept on the lower side to accounts
+// for bus contentions and irq response time
+#define PIOS_WS2811_T0_HIGH_PERIOD     25 // .35us +/- 150nS
+#define PIOS_WS2811_T1_HIGH_PERIOD     60 // .70us +/- 150nS
+
+#define PIOS_WS2811_DMA_CH1_CONFIG(channel) \
+    { \
+        .DMA_BufferSize         = PIOS_WS2811_BUFFER_SIZE, \
+        .DMA_Channel            = channel, \
+        .DMA_DIR = DMA_DIR_MemoryToPeripheral, \
+        .DMA_FIFOMode           = DMA_FIFOMode_Enable, \
+        .DMA_FIFOThreshold      = DMA_FIFOThreshold_HalfFull, \
+        .DMA_Memory0BaseAddr    = 0, \
+        .DMA_MemoryBurst        = DMA_MemoryBurst_INC4, \
+        .DMA_MemoryDataSize     = PIOS_WS2811_MEMORYDATASIZE, \
+        .DMA_MemoryInc          = DMA_MemoryInc_Enable, \
+        .DMA_Mode = DMA_Mode_Circular, \
+        .DMA_PeripheralBaseAddr = 0, \
+        .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single, \
+        .DMA_PeripheralDataSize = PIOS_WS2811_PERIPHERALDATASIZE, \
+        .DMA_PeripheralInc      = DMA_PeripheralInc_Disable, \
+        .DMA_Priority           = DMA_Priority_VeryHigh, }
+
+#define PIOS_WS2811_DMA_CH2_CONFIG(channel) \
+    { \
+        .DMA_BufferSize         = 4, \
+        .DMA_Channel            = channel, \
+        .DMA_DIR = DMA_DIR_MemoryToPeripheral, \
+        .DMA_FIFOMode           = DMA_FIFOMode_Enable, \
+        .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full, \
+        .DMA_Memory0BaseAddr    = 0, \
+        .DMA_MemoryBurst        = DMA_MemoryBurst_INC4, \
+        .DMA_MemoryDataSize     = PIOS_WS2811_MEMORYDATASIZE, \
+        .DMA_MemoryInc          = DMA_MemoryInc_Enable, \
+        .DMA_Mode = DMA_Mode_Circular, \
+        .DMA_PeripheralBaseAddr = 0, \
+        .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single, \
+        .DMA_PeripheralDataSize = PIOS_WS2811_PERIPHERALDATASIZE, \
+        .DMA_PeripheralInc      = DMA_PeripheralInc_Disable, \
+        .DMA_Priority           = DMA_Priority_VeryHigh, }
+
+#define PIOS_WS2811_DMA_UPDATE_CONFIG(channel) \
+    { \
+        .DMA_BufferSize         = 4, \
+        .DMA_Channel            = channel, \
+        .DMA_DIR = DMA_DIR_MemoryToPeripheral, \
+        .DMA_FIFOMode           = DMA_FIFOMode_Enable, \
+        .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full, \
+        .DMA_Memory0BaseAddr    = 0, \
+        .DMA_MemoryBurst        = DMA_MemoryBurst_INC4, \
+        .DMA_MemoryDataSize     = PIOS_WS2811_MEMORYDATASIZE, \
+        .DMA_MemoryInc          = DMA_MemoryInc_Enable, \
+        .DMA_Mode = DMA_Mode_Circular, \
+        .DMA_PeripheralBaseAddr = 0, \
+        .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single, \
+        .DMA_PeripheralDataSize = PIOS_WS2811_PERIPHERALDATASIZE, \
+        .DMA_PeripheralInc      = DMA_PeripheralInc_Disable, \
+        .DMA_Priority           = DMA_Priority_High }
+
+
+typedef uint16_t ledbuf_t;
+
+typedef struct Color Color;
+struct Color {
+    uint8_t R;
+    uint8_t G;
+    uint8_t B;
+};
+struct pios_ws2811_pin_cfg {
+    GPIO_TypeDef     *gpio;
+    GPIO_InitTypeDef gpioInit;
+};
+struct pios_ws2811_cfg {
+    TIM_TimeBaseInitTypeDef timerInit;
+    TIM_TypeDef        *timer;
+    uint8_t            timerCh1;
+    uint8_t            timerCh2;
+
+    DMA_InitTypeDef    dmaInitCh1;
+    DMA_Stream_TypeDef *streamCh1;
+    uint32_t           dmaItCh1;
+
+    DMA_InitTypeDef    dmaInitCh2;
+    DMA_Stream_TypeDef *streamCh2;
+    uint32_t           dmaItCh2;
+
+    DMA_InitTypeDef    dmaInitUpdate;
+    DMA_Stream_TypeDef *streamUpdate;
+    uint32_t           dmaItUpdate;
+    uint16_t           dmaSource;
+    struct stm32_irq   irq;
+};
+
+void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pios_ws2811_pin_cfg *ws2811_pin_cfg);
+
+void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update);
+void PIOS_WS2811_Update();
+
+void PIOS_WS2811_DMA_irq_handler();
+
+#endif /* PIOS_WS2811_H_ */

flight/pios/stm32f4xx/pios_ws2811.c

@@ -0,0 +1,344 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_ws2811.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      A driver for ws2811 rgb led controller.
+ *             this is a plain PiOS port of the very clever solution
+ *             implemented by Omri Iluz in the chibios driver here:
+ *             https://github.com/omriiluz/WS2812B-LED-Driver-ChibiOS
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include <pios.h>
+
+#ifdef PIOS_INCLUDE_WS2811
+
+#include "pios_ws2811.h"
+#include <stm32f4xx_rcc.h>
+#include <pios_stm32.h>
+#include "FreeRTOS.h"
+#include "task.h"
+
+
+// framebuffer
+static ledbuf_t *fb = 0;
+// bitmask with pin to be set/reset using dma
+static ledbuf_t dmaSource[4];
+
+static const struct pios_ws2811_cfg *pios_ws2811_cfg;
+static const struct pios_ws2811_pin_cfg *pios_ws2811_pin_cfg;
+
+static void setupTimer();
+static void setupDMA();
+
+// generic wrapper around corresponding SPL functions
+static void genericTIM_OCxInit(TIM_TypeDef *TIMx, const TIM_OCInitTypeDef *TIM_OCInitStruct, uint8_t ch);
+static void genericTIM_OCxPreloadConfig(TIM_TypeDef *TIMx, uint16_t TIM_OCPreload, uint8_t ch);
+
+// timer creates a 1.25 uS signal, with duty cycle controlled by frame buffer values
+
+/* Example configuration fragment for REVOLUTION
+
+   #ifdef PIOS_INCLUDE_WS2811
+   #include <pios_ws2811.h>
+   #include <hwsettings.h>
+   #define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD))
+
+   // interrupt vector for DMA streamCh1
+   void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
+
+   const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg[] = {
+    [HWSETTINGS_WS2811LED_OUT_SERVOOUT1] = {
+        .gpio     = GPIOB,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_0,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+    ....
+    [HWSETTINGS_WS2811LED_OUT_FLEXIPIN4] = {
+        .gpio     = GPIOB,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_13,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+   };
+
+   const struct pios_ws2811_cfg pios_ws2811_cfg = {
+    .timer     = TIM1,
+    .timerInit = {
+        .TIM_Prescaler         = PIOS_WS2811_TIM_DIVIDER - 1,
+        .TIM_ClockDivision     = TIM_CKD_DIV1,
+        .TIM_CounterMode       = TIM_CounterMode_Up,
+        // period (1.25 uS per period
+        .TIM_Period                            = PIOS_WS2811_TIM_PERIOD,
+        .TIM_RepetitionCounter = 0x0000,
+    },
+
+    .timerCh1     = 1,
+    .streamCh1    = DMA2_Stream1,
+    .timerCh2     = 3,
+    .streamCh2    = DMA2_Stream6,
+    .streamUpdate = DMA2_Stream5,
+
+    // DMA streamCh1, triggered by timerCh1 pwm signal.
+    // if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812
+    .dmaInitCh1 = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6),
+    .dmaItCh1   = DMA_IT_TEIF1 | DMA_IT_TCIF1,
+
+    // DMA streamCh2, triggered by timerCh2 pwm signal.
+    // Reset output value late to indicate "1" bit to ws2812.
+    .dmaInitCh2 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6),
+    .dmaItCh2   = DMA_IT_TEIF6 | DMA_IT_TCIF6,
+
+    // DMA streamUpdate Triggered by timer update event
+    // Outputs a high logic level at beginning of a cycle
+    .dmaInitUpdate = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6),
+    .dmaItUpdate   = DMA_IT_TEIF5 | DMA_IT_TCIF5,
+    .dmaSource     = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
+
+    // DMA streamCh1 interrupt vector, used to block timer at end of framebuffer transfer
+    .irq = {
+        .flags = (DMA_IT_TCIF1),
+        .init  = {
+            .NVIC_IRQChannel    = DMA2_Stream1_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+   };
+
+   void PIOS_WS2811_irq_handler(void)
+   {
+    PIOS_WS2811_DMA_irq_handler();
+   }
+   #endif // PIOS_INCLUDE_WS2811
+
+ */
+
+/*
+ * How it works:
+ * a timer and two channels will produce the timings events:
+ * timer period will be 1.25us
+ * Ch1 CC event will be raised at 0.40uS from the beginning of the cycle
+ * Ch2 CC event will be raised at 0.80uS from the beginning of the cycle
+ * At cycle init an Update event will be raised.
+ *
+ * Three dma streams will handle the output pin as following:
+ * - streamUpdate dma stream, triggered by update event will produce a logic 1 on the output pin
+ * - streamCh1 will bring the pin to 0 if framebuffer location is set to dmaSource value to send a "0" bit to WS281x
+ * - streamCh2 will bring pin to 0 once .8us are passed to send a "1" bit to ws281x
+ * Once StreamCh1 has finished to send the buffer the IRQ handler will stop the timer.
+ *
+ */
+
+/**
+ * @brief   Initialize WS2811 Led Driver
+ * @details Initialize the Led Driver based on passed configuration
+ *
+ * @param[in] ws2811_cfg ws2811 driver configuration
+ * @param[in] ws2811_pin_cfg pin to be used as output
+ *
+ */
+
+void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pios_ws2811_pin_cfg *ws2811_pin_cfg)
+{
+    assert_param(ws2811_cfg);
+    assert_param(ws2811_pin_cfg);
+
+    pios_ws2811_pin_cfg = ws2811_pin_cfg;
+    pios_ws2811_cfg     = ws2811_cfg;
+    GPIO_Init(pios_ws2811_pin_cfg->gpio, &pios_ws2811_pin_cfg->gpioInit);
+    for (uint8_t i = 0; i < 4; i++) {
+        dmaSource[i] = (ledbuf_t)pios_ws2811_pin_cfg->gpioInit.GPIO_Pin;
+    }
+
+    fb = (ledbuf_t *)pvPortMalloc(PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
+    memset(fb, 0, PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
+    Color ledoff = { 0, 0, 0 };
+    for (uint8_t i = 0; i < PIOS_WS2811_NUMLEDS; i++) {
+        PIOS_WS2811_setColorRGB(ledoff, i, false);
+    }
+    // Setup timers
+    setupTimer();
+    setupDMA();
+}
+
+void setupTimer()
+{
+    // Stop timer
+    TIM_Cmd(pios_ws2811_cfg->timer, DISABLE);
+    // Configure timebase and internal clock
+    TIM_TimeBaseInit(pios_ws2811_cfg->timer, &pios_ws2811_cfg->timerInit);
+    TIM_InternalClockConfig(pios_ws2811_cfg->timer);
+
+    genericTIM_OCxPreloadConfig(pios_ws2811_cfg->timer, TIM_OCPreload_Enable, pios_ws2811_cfg->timerCh1);
+    genericTIM_OCxPreloadConfig(pios_ws2811_cfg->timer, TIM_OCPreload_Enable, pios_ws2811_cfg->timerCh2);
+    TIM_ARRPreloadConfig(pios_ws2811_cfg->timer, ENABLE);
+
+    // enable outputs
+    // TIM_CtrlPWMOutputs(pios_ws2811_cfg->timer, ENABLE);
+
+    TIM_DMACmd(pios_ws2811_cfg->timer, pios_ws2811_cfg->dmaSource, ENABLE);
+
+    TIM_OCInitTypeDef oc = {
+        .TIM_OCMode       = TIM_OCMode_PWM1,
+        .TIM_OutputState  = TIM_OutputState_Enable,
+        .TIM_OutputNState = TIM_OutputNState_Disable,
+        .TIM_Pulse        = 0,
+        .TIM_OCPolarity   = TIM_OCPolarity_High,
+        .TIM_OCNPolarity  = TIM_OCNPolarity_High,
+        .TIM_OCIdleState  = TIM_OCIdleState_Reset,
+        .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
+    };
+
+    // (duty in ticks) / (period in ticks) * 1.25uS (period in S) = 0.40 uS
+    oc.TIM_Pulse = PIOS_WS2811_T0_HIGH_PERIOD * PIOS_WS2811_TIM_PERIOD / 125;
+    genericTIM_OCxInit(pios_ws2811_cfg->timer, &oc, pios_ws2811_cfg->timerCh1);
+    // (duty in ticks) / (period in ticks) * 1.25uS (period in S) = 0.80 uS
+    oc.TIM_Pulse = PIOS_WS2811_T1_HIGH_PERIOD * PIOS_WS2811_TIM_PERIOD / 125;
+    genericTIM_OCxInit(pios_ws2811_cfg->timer, &oc, pios_ws2811_cfg->timerCh2);
+}
+
+void genericTIM_OCxInit(TIM_TypeDef *TIMx, const TIM_OCInitTypeDef *TIM_OCInitStruct, uint8_t ch)
+{
+    switch (ch) {
+    case 1:
+        TIM_OC1Init(TIMx, TIM_OCInitStruct);
+        break;
+    case 2:
+        TIM_OC2Init(TIMx, TIM_OCInitStruct);
+        break;
+    case 3:
+        TIM_OC3Init(TIMx, TIM_OCInitStruct);
+        break;
+    case 4:
+        TIM_OC4Init(TIMx, TIM_OCInitStruct);
+        break;
+    }
+}
+
+void genericTIM_OCxPreloadConfig(TIM_TypeDef *TIMx, uint16_t TIM_OCPreload, uint8_t ch)
+{
+    switch (ch) {
+    case 1:
+        TIM_OC1PreloadConfig(TIMx, TIM_OCPreload);
+        break;
+    case 2:
+        TIM_OC2PreloadConfig(TIMx, TIM_OCPreload);
+        break;
+    case 3:
+        TIM_OC3PreloadConfig(TIMx, TIM_OCPreload);
+        break;
+    case 4:
+        TIM_OC4PreloadConfig(TIMx, TIM_OCPreload);
+        break;
+    }
+}
+
+
+void setupDMA()
+{
+    // Configure Ch1
+    DMA_Init(pios_ws2811_cfg->streamCh1, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitCh1);
+    pios_ws2811_cfg->streamCh1->PAR  = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRH;
+    pios_ws2811_cfg->streamCh1->M0AR = (uint32_t)fb;
+
+    NVIC_Init((NVIC_InitTypeDef *)&(pios_ws2811_cfg->irq.init));
+    DMA_ITConfig(pios_ws2811_cfg->streamCh1, DMA_IT_TC, ENABLE);
+
+
+    DMA_Init(pios_ws2811_cfg->streamCh2, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitCh2);
+    pios_ws2811_cfg->streamCh2->PAR     = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRH;
+    pios_ws2811_cfg->streamCh2->M0AR    = (uint32_t)dmaSource;
+
+    DMA_Init(pios_ws2811_cfg->streamUpdate, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitUpdate);
+    pios_ws2811_cfg->streamUpdate->PAR  = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRL;
+    pios_ws2811_cfg->streamUpdate->M0AR = (uint32_t)dmaSource;
+
+    DMA_ClearITPendingBit(pios_ws2811_cfg->streamCh1, pios_ws2811_cfg->dmaItCh1);
+    DMA_ClearITPendingBit(pios_ws2811_cfg->streamCh2, pios_ws2811_cfg->dmaItCh2);
+    DMA_ClearITPendingBit(pios_ws2811_cfg->streamUpdate, pios_ws2811_cfg->dmaItUpdate);
+
+    DMA_Cmd(pios_ws2811_cfg->streamCh2, ENABLE);
+    DMA_Cmd(pios_ws2811_cfg->streamCh1, ENABLE);
+    DMA_Cmd(pios_ws2811_cfg->streamUpdate, ENABLE);
+}
+
+void setColor(uint8_t color, ledbuf_t *buf)
+{
+    uint8_t i;
+
+    for (i = 0; i < 8; i++) {
+        buf[i] = ((color << i) & 0b10000000 ? 0x0 : dmaSource[0]);
+    }
+}
+
+/**
+ * Set a led color
+ * @param c color
+ * @param led led number
+ * @param update Perform an update after changing led color
+ */
+void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update)
+{
+    if (led >= PIOS_WS2811_NUMLEDS) {
+        return;
+    }
+    setColor(c.G, fb + (led * 24));
+    setColor(c.R, fb + 8 + (led * 24));
+    setColor(c.B, fb + 16 + (led * 24));
+    if (update) {
+        PIOS_WS2811_Update();
+    }
+}
+
+/**
+ * trigger an update cycle if not already running
+ */
+void PIOS_WS2811_Update()
+{
+    // does not start if framebuffer is not allocated (init has not been called yet) or a transfer is still on going
+    if (!fb || (pios_ws2811_cfg->timer->CR1 & TIM_CR1_CEN)) {
+        return;
+    }
+
+    // reset counters for synchronization
+    pios_ws2811_cfg->timer->CNT = PIOS_WS2811_TIM_PERIOD - 1;
+    // Start a new cycle
+    TIM_Cmd(pios_ws2811_cfg->timer, ENABLE);
+}
+
+/**
+ * Stop timer once the complete framebuffer has been sent
+ */
+
+void PIOS_WS2811_DMA_irq_handler()
+{
+    pios_ws2811_cfg->timer->CR1 &= (uint16_t) ~TIM_CR1_CEN;
+    DMA_ClearFlag(pios_ws2811_cfg->streamCh1, pios_ws2811_cfg->irq.flags);
+}
+
+#endif // PIOS_INCLUDE_WS2811

flight/targets/boards/coptercontrol/firmware/Makefile

@@ -48,9 +48,13 @@ OPTMODULES += Osd/osdoutput
 #OPTMODULES += Altitude
 #OPTMODULES += Fault
 
+SRC += $(FLIGHTLIB)/notification.c
+
 # Include all camera options
 CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
 
+
+
 # Erase flash firmware should be buildable from command line
 ifeq ($(ERASE_FLASH), YES)
     CDEFS += -DERASE_FLASH

flight/targets/boards/discoveryf4bare/board_hw_defs.c

@@ -1810,3 +1810,69 @@ const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
     .data_tx_ep = 1,
 };
 #endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */
+#ifdef PIOS_INCLUDE_WS2811
+#include <pios_ws2811.h>
+#define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD))
+
+void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
+
+const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg = {
+    .gpio     = GPIOA,
+    .gpioInit = {
+        .GPIO_Pin   = GPIO_Pin_3,
+        .GPIO_Speed = GPIO_Speed_50MHz,
+        .GPIO_Mode  = GPIO_Mode_OUT,
+        .GPIO_OType = GPIO_OType_PP,
+    },
+};
+
+const struct pios_ws2811_cfg pios_ws2811_cfg = {
+    .timer     = TIM1,
+    .timerInit = {
+        .TIM_Prescaler         = PIOS_WS2811_TIM_DIVIDER - 1,
+        .TIM_ClockDivision     = TIM_CKD_DIV1,
+        .TIM_CounterMode       = TIM_CounterMode_Up,
+        // period (1.25 uS per period
+        .TIM_Period                            = PIOS_WS2811_TIM_PERIOD,
+        .TIM_RepetitionCounter = 0x0000,
+    },
+
+    .timerCh1     = 1,
+    .streamCh1    = DMA2_Stream1,
+    .timerCh2     = 3,
+    .streamCh2    = DMA2_Stream6,
+    .streamUpdate = DMA2_Stream5,
+
+    // DMA streamCh1, triggered by timerCh1 pwm signal.
+    // if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812
+    .dmaInitCh1 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6),
+    .dmaItCh1   = DMA_IT_TEIF1 | DMA_IT_TCIF1,
+
+    // DMA streamCh2, triggered by timerCh2 pwm signal.
+    // Reset output value late to indicate "1" bit to ws2812.
+    .dmaInitCh2 = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6),
+    .dmaItCh2   = DMA_IT_TEIF6 | DMA_IT_TCIF6,
+
+    // DMA streamUpdate Triggered by timer update event
+    // Outputs a high logic level at beginning of a cycle
+    .dmaInitUpdate = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6),
+    .dmaItUpdate   = DMA_IT_TEIF5 | DMA_IT_TCIF5,
+    .dmaSource     = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
+
+    // DMA streamCh1 interrupt vector, used to block timer at end of framebuffer transfer
+    .irq                                       = {
+        .flags = (DMA_IT_TCIF1),
+        .init  = {
+            .NVIC_IRQChannel    = DMA2_Stream1_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+};
+
+void PIOS_WS2811_irq_handler(void)
+{
+    PIOS_WS2811_DMA_irq_handler();
+}
+#endif // PIOS_INCLUDE_WS2811

flight/targets/boards/discoveryf4bare/firmware/Makefile

@@ -52,6 +52,8 @@ MODULES += Telemetry
 
 OPTMODULES += ComUsbBridge
 
+SRC += $(FLIGHTLIB)/notification.c
+
 # Include all camera options
 CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
 

flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h

@@ -88,6 +88,7 @@
 // #define PIOS_INCLUDE_MPXV
 // #define PIOS_INCLUDE_ETASV3
 /* #define PIOS_INCLUDE_HCSR04 */
+#define PIOS_INCLUDE_WS2811
 
 /* PIOS receiver drivers */
 #define PIOS_INCLUDE_PWM

flight/targets/boards/discoveryf4bare/firmware/pios_board.c

@@ -36,7 +36,6 @@
 #include <pios_oplinkrcvr_priv.h>
 #include <taskinfo.h>
 #include <pios_callbackscheduler.h>
-
 /*
  * Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
@@ -932,6 +931,11 @@ void PIOS_Board_Init(void)
     PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
     PIOS_MPU6000_CONFIG_Configure();
 #endif
+
+#ifdef PIOS_INCLUDE_WS2811
+#include <pios_ws2811.h>
+    PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg);
+#endif // PIOS_INCLUDE_WS2811
 }
 
 /**

flight/targets/boards/osd/firmware/Makefile

@@ -37,6 +37,8 @@ MODULES += Telemetry
 
 OPTMODULES =
 
+SRC += $(FLIGHTLIB)/notification.c
+
 # Some diagnostics
 CDEFS += -DDIAG_TASKS
 

flight/targets/boards/revolution/board_hw_defs.c

@@ -1962,3 +1962,138 @@ const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
     .data_tx_ep = 1,
 };
 #endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */
+
+#ifdef PIOS_INCLUDE_WS2811
+#include <pios_ws2811.h>
+#include <hwsettings.h>
+#define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD))
+
+void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
+// list of pin configurable as ws281x outputs.
+// this will not clash with PWM in or servo output as
+// pins will be reconfigured as _OUT so the alternate function is disabled.
+const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg[] = {
+    [HWSETTINGS_WS2811LED_OUT_SERVOOUT1] = {
+        .gpio     = GPIOB,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_0,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+    [HWSETTINGS_WS2811LED_OUT_SERVOOUT2] = {
+        .gpio     = GPIOB,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_1,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+    [HWSETTINGS_WS2811LED_OUT_SERVOOUT3] = {
+        .gpio     = GPIOA,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_3,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+    [HWSETTINGS_WS2811LED_OUT_SERVOOUT4] = {
+        .gpio     = GPIOA,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_2,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+    [HWSETTINGS_WS2811LED_OUT_SERVOOUT5] = {
+        .gpio     = GPIOA,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_1,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+    [HWSETTINGS_WS2811LED_OUT_SERVOOUT6] = {
+        .gpio     = GPIOA,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_0,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+    [HWSETTINGS_WS2811LED_OUT_FLEXIPIN3] = {
+        .gpio     = GPIOB,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_12,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+    [HWSETTINGS_WS2811LED_OUT_FLEXIPIN4] = {
+        .gpio     = GPIOB,
+        .gpioInit =                        {
+            .GPIO_Pin   = GPIO_Pin_13,
+            .GPIO_Speed = GPIO_Speed_25MHz,
+            .GPIO_Mode  = GPIO_Mode_OUT,
+            .GPIO_OType = GPIO_OType_PP,
+        },
+    },
+};
+
+const struct pios_ws2811_cfg pios_ws2811_cfg = {
+    .timer     = TIM1,
+    .timerInit = {
+        .TIM_Prescaler         = PIOS_WS2811_TIM_DIVIDER - 1,
+        .TIM_ClockDivision     = TIM_CKD_DIV1,
+        .TIM_CounterMode       = TIM_CounterMode_Up,
+        // period (1.25 uS per period
+        .TIM_Period                            = PIOS_WS2811_TIM_PERIOD,
+        .TIM_RepetitionCounter = 0x0000,
+    },
+
+    .timerCh1     = 1,
+    .streamCh1    = DMA2_Stream1,
+    .timerCh2     = 3,
+    .streamCh2    = DMA2_Stream6,
+    .streamUpdate = DMA2_Stream5,
+
+    // DMA streamCh1, triggered by timerCh1 pwm signal.
+    // if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812
+    .dmaInitCh1 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6),
+    .dmaItCh1   = DMA_IT_TEIF1 | DMA_IT_TCIF1,
+
+    // DMA streamCh2, triggered by timerCh2 pwm signal.
+    // Reset output value late to indicate "1" bit to ws2812.
+    .dmaInitCh2 = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6),
+    .dmaItCh2   = DMA_IT_TEIF6 | DMA_IT_TCIF6,
+
+    // DMA streamUpdate Triggered by timer update event
+    // Outputs a high logic level at beginning of a cycle
+    .dmaInitUpdate = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6),
+    .dmaItUpdate   = DMA_IT_TEIF5 | DMA_IT_TCIF5,
+    .dmaSource     = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
+
+    // DMAInitCh1 interrupt vector, used to block timer at end of framebuffer transfer
+    .irq                                       = {
+        .flags = (DMA_IT_TCIF1),
+        .init  = {
+            .NVIC_IRQChannel    = DMA2_Stream1_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+};
+
+void PIOS_WS2811_irq_handler(void)
+{
+    PIOS_WS2811_DMA_irq_handler();
+}
+#endif // PIOS_INCLUDE_WS2811

flight/targets/boards/revolution/firmware/Makefile

@@ -53,6 +53,8 @@ MODULES += Telemetry
 
 OPTMODULES += ComUsbBridge
 
+SRC += $(FLIGHTLIB)/notification.c
+
 # Include all camera options
 CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
 
@@ -96,7 +98,9 @@ endif
 
 # Optional component libraries
 include $(FLIGHTLIB)/rscode/library.mk
+
 #include $(FLIGHTLIB)/PyMite/pymite.mk
 
+
 include $(ROOT_DIR)/make/apps-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk

flight/targets/boards/revolution/firmware/inc/pios_config.h

@@ -89,6 +89,8 @@
 #define PIOS_INCLUDE_ETASV3
 #define PIOS_INCLUDE_MS4525DO
 
+#define PIOS_INCLUDE_WS2811
+
 /* #define PIOS_INCLUDE_HCSR04 */
 
 /* PIOS receiver drivers */

flight/targets/boards/revolution/firmware/pios_board.c

@@ -35,6 +35,7 @@
 #include <oplinkreceiver.h>
 #include <pios_oplinkrcvr_priv.h>
 #include <taskinfo.h>
+#include <pios_ws2811.h>
 
 /*
  * Pull in the board-specific static HW definitions.
@@ -945,6 +946,17 @@ void PIOS_Board_Init(void)
     PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
     PIOS_MPU6000_CONFIG_Configure();
 #endif
+
+#ifdef PIOS_INCLUDE_WS2811
+#include <pios_ws2811.h>
+    HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
+    HwSettingsWS2811LED_OutGet(&ws2811_pin_settings);
+
+    if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) {
+        PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]);
+    }
+
+#endif // PIOS_INCLUDE_WS2811
 }
 
 /**

flight/targets/boards/revoproto/firmware/Makefile

@@ -50,6 +50,8 @@ MODULES += Osd/osdoutout
 MODULES += Logging
 MODULES += Telemetry
 
+SRC += $(FLIGHTLIB)/notification.c
+
 OPTMODULES += ComUsbBridge
 
 # Include all camera options

flight/targets/boards/simposix/firmware/Makefile

@@ -45,6 +45,8 @@ MODULES += Airspeed
 #MODULES += AltitudeHold # now integrated in Stabilization
 #MODULES += OveroSync
 
+SRC += $(FLIGHTLIB)/notification.c
+
 # Paths
 OPSYSTEM = .
 BOARDINC = ..
@@ -103,6 +105,8 @@ SRC += $(PIOSCORECOMMON)/pios_dosfs_logfs.c
 SRC += $(PIOSCORECOMMON)/pios_debuglog.c
 SRC += $(PIOSCORECOMMON)/pios_callbackscheduler.c
 SRC += $(PIOSCORECOMMON)/pios_deltatime.c
+SRC += $(PIOSCORECOMMON)/pios_notify.c
+
 
 ## PIOS Hardware
 include $(PIOS)/posix/library.mk

ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp

@@ -82,13 +82,34 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool
 
 void MyTabbedStackWidget::insertTab(const int index, QWidget *tab, const QIcon &icon, const QString &label)
 {
-    tab->setContentsMargins(0, 0, 0, 0);
+    // create and insert item
-    m_stackWidget->insertWidget(index, tab);
     QListWidgetItem *item = new QListWidgetItem(icon, label);
+
     item->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);
     item->setTextAlignment(Qt::AlignHCenter | Qt::AlignBottom);
     item->setToolTip(label);
     m_listWidget->insertItem(index, item);
+
+    // setup and insert widget
+    tab->setContentsMargins(0, 0, 0, 0);
+    m_stackWidget->insertWidget(index, tab);
+}
+
+void MyTabbedStackWidget::replaceTab(int index, QWidget *tab)
+{
+    QWidget *wid = m_stackWidget->widget(index);
+
+    // setup and insert new widget
+    tab->setContentsMargins(0, 0, 0, 0);
+    m_stackWidget->insertWidget(index, tab);
+    // check special case when replacing currenlty selected tab
+    if (index == currentIndex()) {
+        // currently selected tab is being replaced so select the new tab before removing the old one
+        m_stackWidget->setCurrentWidget(tab);
+    }
+    // remove and delete old widget
+    m_stackWidget->removeWidget(wid);
+    delete wid;
 }
 
 void MyTabbedStackWidget::removeTab(int index)
@@ -97,6 +118,7 @@ void MyTabbedStackWidget::removeTab(int index)
 
     m_stackWidget->removeWidget(wid);
     delete wid;
+
     QListWidgetItem *item = m_listWidget->item(index);
     m_listWidget->removeItemWidget(item);
     delete item;

ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h

@@ -40,6 +40,7 @@ public:
     MyTabbedStackWidget(QWidget *parent = 0, bool isVertical = false, bool iconAbove = true);
 
     void insertTab(int index, QWidget *tab, const QIcon &icon, const QString &label);
+    void replaceTab(int index, QWidget *tab);
     void removeTab(int index);
     void setIconSize(int size)
     {

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

@@ -0,0 +1,73 @@
+#include "channelform.h"
+
+#include <QGridLayout>
+
+
+ChannelForm::ChannelForm(const int index, QWidget *parent) : ConfigTaskWidget(parent), m_index(index)
+{}
+
+ChannelForm::~ChannelForm()
+{}
+
+int ChannelForm::index() const
+{
+    return m_index;
+}
+
+void ChannelForm::moveTo(QGridLayout &dstLayout)
+{
+    QGridLayout *srcLayout = dynamic_cast<QGridLayout *>(layout());
+
+    Q_ASSERT(srcLayout);
+
+    // if we are the first row to be inserted then show the legend
+    bool showLegend = (dstLayout.rowCount() == 1);
+
+    if (showLegend) {
+        // move legend row to target grid layout
+        moveRow(0, *srcLayout, dstLayout);
+    } else {
+        removeRow(0, *srcLayout);
+    }
+
+    // move field row to target grid layout
+    moveRow(1, *srcLayout, dstLayout);
+
+    // this form is now empty so hide it
+    setVisible(false);
+}
+
+void ChannelForm::moveRow(int row, QGridLayout &srcLayout, QGridLayout &dstLayout)
+{
+    int dstRow = dstLayout.rowCount();
+
+    for (int col = 0; col < srcLayout.columnCount(); col++) {
+        QLayoutItem *item = srcLayout.itemAtPosition(row, col);
+        if (!item) {
+            continue;
+        }
+        QWidget *widget = item->widget();
+        if (widget) {
+            dstLayout.addWidget(widget, dstRow, col);
+            continue;
+        }
+        // TODO handle item of type QLayout
+    }
+}
+
+void ChannelForm::removeRow(int row, QGridLayout &layout)
+{
+    for (int col = 0; col < layout.columnCount(); col++) {
+        QLayoutItem *item = layout.itemAtPosition(row, col);
+        if (!item) {
+            continue;
+        }
+        QWidget *widget = item->widget();
+        if (widget) {
+            layout.removeWidget(widget);
+            delete widget;
+            continue;
+        }
+        // TODO handle item of type QLayout
+    }
+}

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

@@ -0,0 +1,36 @@
+#ifndef CHANNELFORM_H
+#define CHANNELFORM_H
+
+#include "configtaskwidget.h"
+
+#include <QWidget>
+
+namespace Ui {
+class ChannelForm;
+}
+
+class QGridLayout;
+
+class ChannelForm : public ConfigTaskWidget {
+    Q_OBJECT
+
+public:
+    explicit ChannelForm(const int index, QWidget *parent = 0);
+    ~ChannelForm();
+
+    int index() const;
+
+    virtual QString name() = 0;
+    virtual void setName(const QString &name) = 0;
+
+    void moveTo(QGridLayout &dstLayout);
+
+private:
+    // Channel index
+    int m_index;
+
+    static void moveRow(int row, QGridLayout &srcLayout, QGridLayout &dstLayout);
+    static void removeRow(int row, QGridLayout &layout);
+};
+
+#endif // CHANNELFORM_H

ground/openpilotgcs/src/plugins/config/config.pro

@@ -1,18 +1,19 @@
 TEMPLATE = lib
 TARGET = Config
 DEFINES += CONFIG_LIBRARY
-QT += svg
+
-QT += opengl
+QT += svg opengl qml quick
-QT += qml quick
 
 include(config_dependencies.pri)
 
 INCLUDEPATH += ../../libs/eigen
 
-OTHER_FILES += Config.pluginspec \
+OTHER_FILES += \
+    Config.pluginspec \
     calibration/WizardStepIndicator.qml
 
-HEADERS += configplugin.h \
+HEADERS += \
+    configplugin.h \
     configgadgetwidget.h \
     configgadgetfactory.h \
     configgadget.h \
@@ -27,6 +28,7 @@ HEADERS += configplugin.h \
     assertions.h \
     defaultattitudewidget.h \
     defaulthwsettingswidget.h \
+    channelform.h \
     inputchannelform.h \
     configcamerastabilizationwidget.h \
     configtxpidwidget.h \
@@ -57,7 +59,8 @@ HEADERS += configplugin.h \
     calibration/gyrobiascalibrationmodel.h \
     calibration/calibrationuiutils.h
 
-SOURCES += configplugin.cpp \
+SOURCES += \
+    configplugin.cpp \
     configgadgetwidget.cpp \
     configgadgetfactory.cpp \
     configgadget.cpp \
@@ -71,6 +74,7 @@ SOURCES += configplugin.cpp \
     configpipxtremewidget.cpp \
     defaultattitudewidget.cpp \
     defaulthwsettingswidget.cpp \
+    channelform.cpp \
     inputchannelform.cpp \
     configcamerastabilizationwidget.cpp \
     configrevowidget.cpp \
@@ -95,7 +99,8 @@ SOURCES += configplugin.cpp \
     calibration/levelcalibrationmodel.cpp \
     calibration/gyrobiascalibrationmodel.cpp
 
-FORMS += airframe.ui \
+FORMS += \
+    airframe.ui \
     airframe_ccpm.ui \
     airframe_fixedwing.ui \
     airframe_ground.ui \

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

@@ -55,69 +55,67 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
 {
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
 
-    ftw = new MyTabbedStackWidget(this, true, true);
+    stackWidget = new MyTabbedStackWidget(this, true, true);
-    ftw->setIconSize(64);
+    stackWidget->setIconSize(64);
 
     QVBoxLayout *layout = new QVBoxLayout;
     layout->setContentsMargins(0, 0, 0, 0);
-    layout->addWidget(ftw);
+    layout->addWidget(stackWidget);
     setLayout(layout);
 
-    // *********************
     QWidget *qwd;
 
     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);
-    ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
+    stackWidget->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);
-    ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, *icon, QString("Vehicle"));
+    stackWidget->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);
-    ftw->insertTab(ConfigGadgetWidget::input, qwd, *icon, QString("Input"));
+    stackWidget->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);
-    ftw->insertTab(ConfigGadgetWidget::output, qwd, *icon, QString("Output"));
+    stackWidget->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);
-    ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
+    stackWidget->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);
-    ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
+    stackWidget->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);
-    ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Gimbal"));
+    stackWidget->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Gimbal"));
 
     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);
-    ftw->insertTab(ConfigGadgetWidget::txpid, qwd, *icon, QString("TxPID"));
+    stackWidget->insertTab(ConfigGadgetWidget::txpid, qwd, *icon, QString("TxPID"));
+
+    stackWidget->setCurrentIndex(ConfigGadgetWidget::hardware);
 
-    ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
-    // *********************
     // Listen to autopilot connection events
-
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
     connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
@@ -129,9 +127,9 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     }
 
     help = 0;
-    connect(ftw, SIGNAL(currentAboutToShow(int, bool *)), this, SLOT(tabAboutToChange(int, bool *)));
+    connect(stackWidget, SIGNAL(currentAboutToShow(int, bool *)), this, SLOT(tabAboutToChange(int, bool *)));
 
-    // Connect to the PipXStatus object updates
+    // Connect to the OPLinkStatus object updates
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
     oplinkStatusObj = dynamic_cast<UAVDataObject *>(objManager->getObject("OPLinkStatus"));
     if (oplinkStatusObj != NULL) {
@@ -148,13 +146,13 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
 
 ConfigGadgetWidget::~ConfigGadgetWidget()
 {
-    // TODO: properly delete all the tabs in ftw before exiting
+    delete stackWidget;
 }
 
 void ConfigGadgetWidget::startInputWizard()
 {
-    ftw->setCurrentIndex(ConfigGadgetWidget::input);
+    stackWidget->setCurrentIndex(ConfigGadgetWidget::input);
-    ConfigInputWidget *inputWidget = dynamic_cast<ConfigInputWidget *>(ftw->getWidget(ConfigGadgetWidget::input));
+    ConfigInputWidget *inputWidget = dynamic_cast<ConfigInputWidget *>(stackWidget->getWidget(ConfigGadgetWidget::input));
     Q_ASSERT(inputWidget);
     inputWidget->startInputWizard();
 }
@@ -166,24 +164,12 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
 
 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);
-    ftw->removeTab(ConfigGadgetWidget::sensors);
-    ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
 
-    icon = new QIcon();
+    stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
-    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);
-    ftw->removeTab(ConfigGadgetWidget::hardware);
-    ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
 
-    ftw->setCurrentIndex(selectedIndex);
+    qwd = new DefaultHwSettingsWidget(this);
+    stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
 
     emit autopilotDisconnected();
 }
@@ -196,45 +182,25 @@ void ConfigGadgetWidget::onAutopilotConnect()
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     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();
-            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);
-            ftw->removeTab(ConfigGadgetWidget::sensors);
+            stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
-            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
 
-            icon = new QIcon();
+            qwd = new ConfigCCHWWidget(this);
-            icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+            stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
-            icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-            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();
-            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);
-            ftw->removeTab(ConfigGadgetWidget::sensors);
+            stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
-            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
 
-            icon = new QIcon();
+            qwd = new ConfigRevoHWWidget(this);
-            icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+            stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
-            icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-            qwd  = new ConfigRevoHWWidget(this);
-            ftw->removeTab(ConfigGadgetWidget::hardware);
-            ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
         } else {
             // Unknown board
             qDebug() << "Unknown board " << board;
         }
-        ftw->setCurrentIndex(selectedIndex);
     }
 
     emit autopilotConnected();
@@ -244,7 +210,7 @@ void ConfigGadgetWidget::tabAboutToChange(int i, bool *proceed)
 {
     Q_UNUSED(i);
     *proceed = true;
-    ConfigTaskWidget *wid = qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
+    ConfigTaskWidget *wid = qobject_cast<ConfigTaskWidget *>(stackWidget->currentWidget());
     if (!wid) {
         return;
     }
@@ -275,7 +241,7 @@ void ConfigGadgetWidget::updateOPLinkStatus(UAVObject *)
         icon->addFile(":/configgadget/images/pipx-selected.png", QSize(), QIcon::Selected, QIcon::Off);
 
         QWidget *qwd = new ConfigPipXtremeWidget(this);
-        ftw->insertTab(ConfigGadgetWidget::oplink, qwd, *icon, QString("OPLink"));
+        stackWidget->insertTab(ConfigGadgetWidget::oplink, qwd, *icon, QString("OPLink"));
         oplinkConnected = true;
     }
 }
@@ -284,6 +250,10 @@ void ConfigGadgetWidget::onOPLinkDisconnect()
 {
     qDebug() << "ConfigGadgetWidget onOPLinkDisconnect";
     oplinkTimeout->stop();
-    ftw->removeTab(ConfigGadgetWidget::oplink);
     oplinkConnected = false;
+
+    if (stackWidget->currentIndex() == ConfigGadgetWidget::oplink) {
+        stackWidget->setCurrentIndex(0);
+    }
+    stackWidget->removeTab(ConfigGadgetWidget::oplink);
 }

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

@@ -65,7 +65,6 @@ signals:
 
 protected:
     void resizeEvent(QResizeEvent *event);
-    MyTabbedStackWidget *ftw;
 
 private:
     UAVDataObject *oplinkStatusObj;
@@ -73,6 +72,8 @@ private:
     // A timer that timesout the connction to the OPLink.
     QTimer *oplinkTimeout;
     bool oplinkConnected;
+
+    MyTabbedStackWidget *stackWidget;
 };
 
 #endif // CONFIGGADGETWIDGET_H

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

@@ -80,41 +80,46 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     unsigned int indexRT = 0;
     foreach(QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames()) {
         Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
-        InputChannelForm *inpForm = new InputChannelForm(this, index == 0);
+        InputChannelForm *form = new InputChannelForm(index, this);
-        ui->channelSettings->layout()->addWidget(inpForm); // Add the row to the UI
+        form->setName(name);
-        inpForm->setName(name);
+        form->moveTo(*(ui->channelLayout));
 
         // The order of the following binding calls is important. Since the values will be populated
         // in reverse order of the binding order otherwise the 'Reversed' logic will floor the neutral value
         // to the max value ( which is smaller than the neutral value when reversed ) and the channel number
         // will not be set correctly.
-        addWidgetBinding("ManualControlSettings", "ChannelNumber", inpForm->ui->channelNumber, index);
+        addWidgetBinding("ManualControlSettings", "ChannelNumber", form->ui->channelNumber, index);
-        addWidgetBinding("ManualControlSettings", "ChannelGroups", inpForm->ui->channelGroup, index);
+        addWidgetBinding("ManualControlSettings", "ChannelGroups", form->ui->channelGroup, index);
-        addWidgetBinding("ManualControlSettings", "ChannelNeutral", inpForm->ui->channelNeutral, index);
+        addWidgetBinding("ManualControlSettings", "ChannelNeutral", form->ui->channelNeutral, index);
-        addWidgetBinding("ManualControlSettings", "ChannelNeutral", inpForm->ui->neutralValue, index);
+        addWidgetBinding("ManualControlSettings", "ChannelNeutral", form->ui->neutralValue, index);
-        addWidgetBinding("ManualControlSettings", "ChannelMax", inpForm->ui->channelMax, index);
+        addWidgetBinding("ManualControlSettings", "ChannelMax", form->ui->channelMax, index);
-        addWidgetBinding("ManualControlSettings", "ChannelMin", inpForm->ui->channelMin, index);
+        addWidgetBinding("ManualControlSettings", "ChannelMin", form->ui->channelMin, index);
-        addWidgetBinding("ManualControlSettings", "ChannelMax", inpForm->ui->channelMax, index);
+        addWidgetBinding("ManualControlSettings", "ChannelMax", form->ui->channelMax, index);
 
-        addWidget(inpForm->ui->channelNumberDropdown);
+        addWidget(form->ui->channelRev);
-        addWidget(inpForm->ui->channelResponseTime);
+
-        addWidget(inpForm->ui->channelRev);
+        // Reversing supported for some channels only
+        bool reversable = ((index == ManualControlSettings::CHANNELGROUPS_THROTTLE) ||
+                           (index == ManualControlSettings::CHANNELGROUPS_ROLL) ||
+                           (index == ManualControlSettings::CHANNELGROUPS_PITCH) ||
+                           (index == ManualControlSettings::CHANNELGROUPS_YAW));
+        form->ui->channelRev->setVisible(reversable);
 
         // Input filter response time fields supported for some channels only
         switch (index) {
         case ManualControlSettings::CHANNELGROUPS_ROLL:
         case ManualControlSettings::CHANNELGROUPS_PITCH:
         case ManualControlSettings::CHANNELGROUPS_YAW:
+        case ManualControlSettings::CHANNELGROUPS_COLLECTIVE:
         case ManualControlSettings::CHANNELGROUPS_ACCESSORY0:
         case ManualControlSettings::CHANNELGROUPS_ACCESSORY1:
         case ManualControlSettings::CHANNELGROUPS_ACCESSORY2:
-            addWidgetBinding("ManualControlSettings", "ResponseTime", inpForm->ui->channelResponseTime, indexRT);
+            addWidgetBinding("ManualControlSettings", "ResponseTime", form->ui->channelResponseTime, indexRT);
             ++indexRT;
             break;
         case ManualControlSettings::CHANNELGROUPS_THROTTLE:
         case ManualControlSettings::CHANNELGROUPS_FLIGHTMODE:
-        case ManualControlSettings::CHANNELGROUPS_COLLECTIVE:
+            form->ui->channelResponseTime->setVisible(false);
-            inpForm->ui->channelResponseTime->setEnabled(false);
             break;
         default:
             Q_ASSERT(0);

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

@@ -76,10 +76,12 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
     // NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
     // Register for ActuatorSettings changes:
     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
-        OutputChannelForm *form = new OutputChannelForm(i, this, i == 0);
+        OutputChannelForm *form = new OutputChannelForm(i, this);
+        form->moveTo(*(ui->channelLayout));
+
         connect(ui->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
         connect(form, SIGNAL(channelChanged(int, int)), this, SLOT(sendChannelTest(int, int)));
-        ui->channelLayout->addWidget(form);
+
         addWidget(form->ui.actuatorMin);
         addWidget(form->ui.actuatorNeutral);
         addWidget(form->ui.actuatorMax);
@@ -194,7 +196,7 @@ OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) con
 /**
  * Set the label for a channel output assignement
  */
-void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
+void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString &str)
 {
     // FIXME: use signal/ slot approach
     UAVObjectField *field = obj->getField(str);
@@ -204,7 +206,7 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
     OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
 
     if (outputChannelForm) {
-        outputChannelForm->setAssignment(str);
+        outputChannelForm->setName(str);
     }
 }
 
@@ -254,15 +256,15 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
     // Initialize output forms
     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
-        outputChannelForm->setAssignment(ChannelDesc[outputChannelForm->index()]);
+        outputChannelForm->setName(ChannelDesc[outputChannelForm->index()]);
 
         // init min,max,neutral
         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
-        outputChannelForm->minmax(minValue, maxValue);
+        outputChannelForm->setRange(minValue, maxValue);
 
         int neutral  = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
-        outputChannelForm->neutral(neutral);
+        outputChannelForm->setNeutral(neutral);
     }
 
     // Get the SpinWhileArmed setting
@@ -349,10 +351,10 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 
-        outputChannelForm->minmax(minValue, maxValue);
+        outputChannelForm->setRange(minValue, maxValue);
 
         int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
-        outputChannelForm->neutral(neutral);
+        outputChannelForm->setNeutral(neutral);
     }
 
     setDirty(dirty);

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

@@ -47,6 +47,8 @@ public:
     ConfigOutputWidget(QWidget *parent = 0);
     ~ConfigOutputWidget();
 
+protected:
+    void enableControls(bool enable);
 
 private:
     Ui_OutputWidget *ui;
@@ -55,14 +57,14 @@ private:
 
     void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, QCheckBox *rev, int value);
 
-    void assignChannel(UAVDataObject *obj, QString str);
+    void assignOutputChannel(UAVDataObject *obj, QString &str);
-    void assignOutputChannel(UAVDataObject *obj, QString str);
     OutputChannelForm *getOutputChannelForm(const int index) const;
     int mccDataRate;
 
     UAVObject::Metadata accInitialData;
 
     bool wasItMe;
+
 private slots:
     void stopTests();
     void disableIfNotMe(UAVObject *obj);
@@ -71,8 +73,6 @@ private slots:
     void runChannelTests(bool state);
     void sendChannelTest(int index, int value);
     void openHelp();
-protected:
-    void enableControls(bool enable);
 };
 
-#endif // ifndef CONFIGOUTPUTWIDGET_H
+#endif // CONFIGOUTPUTWIDGET_H

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

@@ -116,8 +116,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>774</width>
+            <width>772</width>
-            <height>748</height>
+            <height>751</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
@@ -143,16 +143,16 @@
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_6">
               <property name="leftMargin">
-               <number>12</number>
+               <number>9</number>
               </property>
               <property name="topMargin">
-               <number>0</number>
+               <number>9</number>
               </property>
               <property name="rightMargin">
-               <number>12</number>
+               <number>9</number>
               </property>
               <property name="bottomMargin">
-               <number>0</number>
+               <number>9</number>
               </property>
               <item>
                <widget class="QStackedWidget" name="stackedWidget">
@@ -162,21 +162,21 @@
                 <widget class="QWidget" name="advancedPage">
                  <layout class="QVBoxLayout" name="verticalLayout_3">
                   <property name="leftMargin">
-                   <number>12</number>
+                   <number>0</number>
                   </property>
                   <property name="topMargin">
-                   <number>12</number>
+                   <number>0</number>
                   </property>
                   <property name="rightMargin">
-                   <number>12</number>
+                   <number>0</number>
                   </property>
                   <property name="bottomMargin">
-                   <number>12</number>
+                   <number>0</number>
                   </property>
                   <item>
-                   <layout class="QVBoxLayout" name="channelSettings">
+                   <layout class="QGridLayout" name="channelLayout">
-                    <property name="spacing">
+                    <property name="horizontalSpacing">
-                     <number>0</number>
+                     <number>12</number>
                     </property>
                    </layout>
                   </item>
@@ -198,7 +198,7 @@
                   </item>
                   <item>
                    <layout class="QGridLayout" name="gridLayout_3">
-                    <item row="0" column="4">
+                    <item row="0" column="3">
                      <spacer name="horizontalSpacer_3">
                       <property name="orientation">
                        <enum>Qt::Horizontal</enum>
@@ -211,14 +211,14 @@
                       </property>
                      </spacer>
                     </item>
-                    <item row="0" column="1">
+                    <item row="0" column="0">
                      <widget class="QLabel" name="labelDeadband">
                       <property name="text">
                        <string>Roll/Pitch/Yaw stick deadband</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="0" column="2">
+                    <item row="0" column="1">
                      <widget class="QDoubleSpinBox" name="deadband">
                       <property name="toolTip">
                        <string>Stick deadband in percents of full range (0-10), zero to disable</string>
@@ -234,22 +234,6 @@
                       </property>
                      </widget>
                     </item>
-                    <item row="0" column="0">
-                     <spacer name="horizontalSpacer_8">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>12</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
                    </layout>
                   </item>
                   <item>
@@ -260,7 +244,7 @@
                     <property name="sizeHint" stdset="0">
                      <size>
                       <width>20</width>
-                      <height>40</height>
+                      <height>10</height>
                      </size>
                     </property>
                    </spacer>
@@ -369,6 +353,12 @@
               </item>
               <item>
                <widget class="QPushButton" name="configurationWizard">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
                 <property name="minimumSize">
                  <size>
                   <width>210</width>
@@ -413,6 +403,12 @@
                 <property name="enabled">
                  <bool>true</bool>
                 </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
                 <property name="minimumSize">
                  <size>
                   <width>210</width>
@@ -546,8 +542,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>774</width>
+            <width>772</width>
-            <height>748</height>
+            <height>751</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0,0">
@@ -2048,8 +2044,8 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>504</width>
+            <width>772</width>
-            <height>156</height>
+            <height>751</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -2238,7 +2234,7 @@ Set to 0 to disable (recommended for soaring fixed wings).</string>
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="../coreplugin/core.qrc">
+        <iconset>
          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
        </property>
        <property name="iconSize">

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

@@ -4,69 +4,36 @@
 #include "manualcontrolsettings.h"
 #include "gcsreceiver.h"
 
-InputChannelForm::InputChannelForm(QWidget *parent, bool showlegend) :
+InputChannelForm::InputChannelForm(const int index, QWidget *parent) :
-    ConfigTaskWidget(parent),
+    ChannelForm(index, parent), ui(new Ui::InputChannelForm)
-    ui(new Ui::InputChannelForm)
 {
     ui->setupUi(this);
 
-    // 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);
-        layout()->removeWidget(ui->legend3);
-        layout()->removeWidget(ui->legend4);
-        layout()->removeWidget(ui->legend5);
-        layout()->removeWidget(ui->legend6);
-        layout()->removeWidget(ui->legend7);
-        delete ui->legend0;
-        delete ui->legend1;
-        delete ui->legend2;
-        delete ui->legend3;
-        delete ui->legend4;
-        delete ui->legend5;
-        delete ui->legend6;
-        delete ui->legend7;
-    }
-
     connect(ui->channelMin, SIGNAL(valueChanged(int)), this, SLOT(minMaxUpdated()));
     connect(ui->channelMax, SIGNAL(valueChanged(int)), this, SLOT(minMaxUpdated()));
     connect(ui->neutralValue, SIGNAL(valueChanged(int)), this, SLOT(neutralUpdated()));
     connect(ui->channelGroup, SIGNAL(currentIndexChanged(int)), this, SLOT(groupUpdated()));
     connect(ui->channelRev, SIGNAL(toggled(bool)), this, SLOT(reversedUpdated()));
 
-    // 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)));
-
     disableMouseWheelEvents();
 }
 
-
 InputChannelForm::~InputChannelForm()
 {
     delete ui;
 }
 
-void InputChannelForm::setName(QString &name)
+QString InputChannelForm::name()
+{
+    return ui->channelName->text();
+}
+
+/**
+ * Set the channel assignment label.
+ */
+void InputChannelForm::setName(const 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) {
-            continue;
-        }
-        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);
 }
 
 /**
@@ -136,8 +103,8 @@ void InputChannelForm::reversedUpdated()
  */
 void InputChannelForm::groupUpdated()
 {
-    ui->channelNumberDropdown->clear();
+    ui->channelNumber->clear();
-    ui->channelNumberDropdown->addItem("Disabled");
+    ui->channelNumber->addItem("Disabled");
 
     quint8 count = 0;
 
@@ -168,25 +135,6 @@ void InputChannelForm::groupUpdated()
     }
 
     for (int i = 0; i < count; i++) {
-        ui->channelNumberDropdown->addItem(QString(tr("Chan %1").arg(i + 1)));
+        ui->channelNumber->addItem(QString(tr("Chan %1").arg(i + 1)));
     }
-
-    ui->channelNumber->setMaximum(count);
-    ui->channelNumber->setMinimum(0);
-}
-
-/**
- * Update the dropdown from the hidden control
- */
-void InputChannelForm::channelDropdownUpdated(int newval)
-{
-    ui->channelNumber->setValue(newval);
-}
-
-/**
- * Update the hidden control from the dropdown
- */
-void InputChannelForm::channelNumberUpdated(int newval)
-{
-    ui->channelNumberDropdown->setCurrentIndex(newval);
 }

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

@@ -1,27 +1,32 @@
 #ifndef INPUTCHANNELFORM_H
 #define INPUTCHANNELFORM_H
 
-#include <QWidget>
+#include "channelform.h"
 #include "configinputwidget.h"
+
+#include <QWidget>
+
 namespace Ui {
 class InputChannelForm;
 }
 
-class InputChannelForm : public ConfigTaskWidget {
+class InputChannelForm : public ChannelForm {
     Q_OBJECT
 
 public:
-    explicit InputChannelForm(QWidget *parent = 0, bool showlegend = false);
+    explicit InputChannelForm(const int index, QWidget *parent = NULL);
     ~InputChannelForm();
+
     friend class ConfigInputWidget;
-    void setName(QString &name);
+
+    virtual QString name();
+    virtual void setName(const QString &name);
+
 private slots:
     void minMaxUpdated();
     void neutralUpdated();
     void reversedUpdated();
     void groupUpdated();
-    void channelDropdownUpdated(int);
-    void channelNumberUpdated(int);
 
 private:
     Ui::InputChannelForm *ui;

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

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>828</width>
+    <width>923</width>
-    <height>93</height>
+    <height>51</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -24,268 +24,18 @@
     <number>0</number>
    </property>
    <property name="bottomMargin">
-    <number>6</number>
+    <number>0</number>
+   </property>
+   <property name="horizontalSpacing">
+    <number>12</number>
    </property>
-   <item row="0" column="5" colspan="2">
-    <widget class="QLabel" name="legend4">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="toolTip">
-      <string>Channel neutral</string>
-     </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;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="text">
-      <string>Neutral</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="8">
-    <widget class="QSpinBox" name="channelMax">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="buttonSymbols">
-      <enum>QAbstractSpinBox::UpDownArrows</enum>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="value">
-      <number>1000</number>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="12">
-    <widget class="QLabel" name="legend7">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>30</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="toolTip">
-      <string>Response time</string>
-     </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;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="lineWidth">
-      <number>1</number>
-     </property>
-     <property name="text">
-      <string>RT</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="10" colspan="2">
-    <widget class="QLabel" name="legend6">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>75</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="toolTip">
-      <string>Channel values are inverted</string>
-     </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;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="lineWidth">
-      <number>1</number>
-     </property>
-     <property name="text">
-      <string>Reversed</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="0">
-    <widget class="QLabel" name="legend0">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="toolTip">
-      <string>Channel function</string>
-     </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;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="text">
-      <string>Function</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QLabel" name="legend1">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="toolTip">
-      <string>Channel type</string>
-     </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;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="text">
-      <string>Type</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
    <item row="0" column="2">
     <widget class="QLabel" name="legend2">
      <property name="enabled">
       <bool>true</bool>
      </property>
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -298,6 +48,7 @@ font:bold;</string>
      </property>
      <property name="font">
       <font>
+       <pointsize>-1</pointsize>
        <weight>75</weight>
        <italic>false</italic>
        <bold>true</bold>
@@ -310,8 +61,8 @@ font:bold;</string>
       <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;
-margin:1px;
+font: bold 12px;
-font:bold;</string>
+margin:1px;</string>
      </property>
      <property name="frameShape">
       <enum>QFrame::StyledPanel</enum>
@@ -324,133 +75,47 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="3">
+   <item row="0" column="4">
-    <widget class="QLabel" name="legend3">
+    <spacer name="horizontalSpacer_3">
-     <property name="enabled">
+     <property name="orientation">
-      <bool>true</bool>
+      <enum>Qt::Horizontal</enum>
      </property>
-     <property name="sizePolicy">
+     <property name="sizeType">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+      <enum>QSizePolicy::Fixed</enum>
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
      </property>
-     <property name="minimumSize">
+     <property name="sizeHint" stdset="0">
       <size>
-       <width>0</width>
+       <width>10</width>
        <height>20</height>
       </size>
      </property>
-     <property name="font">
+    </spacer>
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="toolTip">
-      <string>Channel min</string>
-     </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;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="text">
-      <string>Min</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
    </item>
-   <item row="1" column="0">
+   <item row="1" column="3">
-    <widget class="QLabel" name="channelName">
+    <widget class="QSpinBox" name="channelMin">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>80</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="2">
-    <widget class="QComboBox" name="channelNumberDropdown">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
-       <horstretch>4</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>25</height>
+       <height>0</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
-       <width>90</width>
+       <width>16777215</width>
        <height>16777215</height>
       </size>
      </property>
      <property name="focusPolicy">
       <enum>Qt::StrongFocus</enum>
      </property>
-     <property name="maxVisibleItems">
+     <property name="alignment">
-      <number>7</number>
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="1">
-    <widget class="QComboBox" name="channelGroup">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
-       <horstretch>6</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>100</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="3">
-    <widget class="QSpinBox" name="channelMin">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
      </property>
      <property name="buttonSymbols">
       <enum>QAbstractSpinBox::UpDownArrows</enum>
@@ -463,123 +128,111 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="4">
+   <item row="1" column="1">
-    <spacer name="horizontalSpacer">
+    <widget class="QComboBox" name="channelGroup">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>10</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="0" column="8">
-    <widget class="QLabel" name="legend5">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
      <property name="minimumSize">
       <size>
-       <width>0</width>
+       <width>110</width>
-       <height>20</height>
+       <height>0</height>
       </size>
      </property>
-     <property name="font">
+     <property name="maximumSize">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="toolTip">
-      <string>Channel max</string>
-     </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;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="lineWidth">
-      <number>1</number>
-     </property>
-     <property name="text">
-      <string>Max</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="7">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
       <size>
-       <width>10</width>
+       <width>16777215</width>
-       <height>20</height>
+       <height>16777215</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="1" column="5">
-    <widget class="QSlider" name="channelNeutral">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>22</height>
       </size>
      </property>
      <property name="focusPolicy">
       <enum>Qt::StrongFocus</enum>
      </property>
-     <property name="orientation">
+     <property name="sizeAdjustPolicy">
-      <enum>Qt::Horizontal</enum>
+      <enum>QComboBox::AdjustToContents</enum>
      </property>
     </widget>
    </item>
-   <item row="1" column="12">
+   <item row="1" column="2">
-    <widget class="QSpinBox" name="channelResponseTime">
+    <widget class="QComboBox" name="channelNumber">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
      <property name="minimumSize">
       <size>
-       <width>30</width>
+       <width>100</width>
-       <height>25</height>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="maxVisibleItems">
+      <number>7</number>
+     </property>
+     <property name="sizeAdjustPolicy">
+      <enum>QComboBox::AdjustToContents</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="channelName">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>100</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Text</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="9">
+    <widget class="QSpinBox" name="channelResponseTime">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
       </size>
      </property>
      <property name="toolTip">
@@ -598,6 +251,9 @@ even lead to crash. Use with caution.</string>
      <property name="frame">
       <bool>true</bool>
      </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
      <property name="buttonSymbols">
       <enum>QAbstractSpinBox::UpDownArrows</enum>
      </property>
@@ -606,21 +262,544 @@ even lead to crash. Use with caution.</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="10" colspan="2">
+   <item row="0" column="0">
+    <widget class="QLabel" name="legend0">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel function</string>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Function</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="7">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="4">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="7">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="0" column="8">
+    <widget class="QLabel" name="legend6">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel values are inverted</string>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string>Reversed</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="9">
+    <widget class="QLabel" name="legend7">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Response time</string>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string>RT</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="6">
+    <widget class="QLabel" name="legend5">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel max</string>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string>Max</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="5">
+    <widget class="QLabel" name="legend4">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel neutral</string>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Neutral</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="3">
+    <widget class="QLabel" name="legend3">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel min</string>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Min</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QLabel" name="legend1">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel type</string>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Type</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="6">
+    <widget class="QSpinBox" name="channelMax">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+     <property name="buttonSymbols">
+      <enum>QAbstractSpinBox::UpDownArrows</enum>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="value">
+      <number>1000</number>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="5">
     <widget class="QFrame" name="frame">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Plain</enum>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="leftMargin">
+       <number>2</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>2</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QSlider" name="channelNeutral">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>50</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSpinBox" name="neutralValue">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+        <property name="maximum">
+         <number>9999</number>
+        </property>
+        <property name="value">
+         <number>1000</number>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="8">
+    <widget class="QFrame" name="frame_1">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="minimumSize">
       <size>
        <width>75</width>
        <height>0</height>
       </size>
      </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
      <property name="frameShape">
       <enum>QFrame::NoFrame</enum>
      </property>
      <property name="frameShadow">
       <enum>QFrame::Raised</enum>
      </property>
-     <layout class="QGridLayout" name="gridLayout_2">
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
       <property name="leftMargin">
        <number>0</number>
       </property>
@@ -633,15 +812,21 @@ even lead to crash. Use with caution.</string>
       <property name="bottomMargin">
        <number>0</number>
       </property>
-      <item row="0" column="0" alignment="Qt::AlignHCenter">
+      <item alignment="Qt::AlignHCenter">
        <widget class="QCheckBox" name="channelRev">
         <property name="enabled">
          <bool>true</bool>
         </property>
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="minimumSize">
          <size>
           <width>0</width>
-          <height>20</height>
+          <height>0</height>
          </size>
         </property>
         <property name="text">
@@ -652,51 +837,8 @@ even lead to crash. Use with caution.</string>
      </layout>
     </widget>
    </item>
-   <item row="1" column="6">
-    <widget class="QSpinBox" name="neutralValue">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="value">
-      <number>1000</number>
-     </property>
-    </widget>
-   </item>
   </layout>
-  <widget class="QSpinBox" name="channelNumber">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>216</x>
-     <y>26</y>
-     <width>0</width>
-     <height>0</height>
-    </rect>
-   </property>
-   <property name="maximumSize">
-    <size>
-     <width>0</width>
-     <height>0</height>
-    </size>
-   </property>
-  </widget>
  </widget>
- <tabstops>
-  <tabstop>channelNumber</tabstop>
-  <tabstop>channelGroup</tabstop>
-  <tabstop>channelNumberDropdown</tabstop>
-  <tabstop>channelMin</tabstop>
-  <tabstop>channelNeutral</tabstop>
-  <tabstop>channelMax</tabstop>
- </tabstops>
  <resources/>
  <connections/>
 </ui>

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

@@ -122,8 +122,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>676</width>
+            <width>674</width>
-            <height>674</height>
+            <height>677</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -654,41 +654,46 @@ Leave at 50Hz for fixed wing.</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout">
               <item>
-               <layout class="QVBoxLayout" name="channelLayout">
+               <layout class="QGridLayout" name="channelLayout">
-                <property name="sizeConstraint">
+                <property name="horizontalSpacing">
-                 <enum>QLayout::SetDefaultConstraint</enum>
+                 <number>12</number>
                 </property>
                </layout>
               </item>
               <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_2">
+               <spacer name="verticalSpacer_2">
-                <item>
+                <property name="orientation">
-                 <widget class="QCheckBox" name="spinningArmed">
+                 <enum>Qt::Vertical</enum>
-                  <property name="minimumSize">
+                </property>
-                   <size>
+                <property name="sizeType">
-                    <width>519</width>
+                 <enum>QSizePolicy::Fixed</enum>
-                    <height>20</height>
+                </property>
-                   </size>
+                <property name="sizeHint" stdset="0">
-                  </property>
+                 <size>
-                  <property name="text">
+                  <width>20</width>
-                   <string>Motors spin at neutral output when armed and throttle below zero (be careful)</string>
+                  <height>10</height>
-                  </property>
+                 </size>
-                 </widget>
+                </property>
-                </item>
+               </spacer>
-                <item>
+              </item>
-                 <spacer name="horizontalSpacer_2">
+              <item>
-                  <property name="orientation">
+               <widget class="QCheckBox" name="spinningArmed">
-                   <enum>Qt::Horizontal</enum>
+                <property name="sizePolicy">
-                  </property>
+                 <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                  <property name="sizeHint" stdset="0">
+                  <horstretch>0</horstretch>
-                   <size>
+                  <verstretch>0</verstretch>
-                    <width>40</width>
+                 </sizepolicy>
-                    <height>20</height>
+                </property>
-                   </size>
+                <property name="minimumSize">
-                  </property>
+                 <size>
-                 </spacer>
+                  <width>519</width>
-                </item>
+                  <height>20</height>
-               </layout>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Motors spin at neutral output when armed and throttle below zero (be careful)</string>
+                </property>
+               </widget>
               </item>
               <item>
                <spacer name="verticalSpacer">

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

@@ -26,52 +26,24 @@
  */
 
 #include "outputchannelform.h"
-#include "configoutputwidget.h"
 
-OutputChannelForm::OutputChannelForm(const int index, QWidget *parent, const bool showLegend) :
+OutputChannelForm::OutputChannelForm(const int index, QWidget *parent) :
-    ConfigTaskWidget(parent),
+    ChannelForm(index, parent), ui(), m_inChannelTest(false)
-    ui(),
-    m_index(index),
-    m_inChannelTest(false)
 {
     ui.setupUi(this);
-    if (!showLegend) {
-        // Remove legend
-        QGridLayout *grid_layout = dynamic_cast<QGridLayout *>(layout());
-        Q_ASSERT(grid_layout);
-        for (int col = 0; col < grid_layout->columnCount(); col++) { // remove every item in first row
-            QLayoutItem *item = grid_layout->itemAtPosition(0, col);
-            if (!item) {
-                continue;
-            }
-            // get widget from layout item
-            QWidget *legend_widget = item->widget();
-            if (!legend_widget) {
-                continue;
-            }
-            // delete widget
-            grid_layout->removeWidget(legend_widget);
-            delete legend_widget;
-        }
-    }
 
     // The convention for OP is Channel 1 to Channel 10.
-    ui.actuatorNumber->setText(QString("%1:").arg(m_index + 1));
+    ui.actuatorNumber->setText(QString("%1:").arg(index + 1));
 
     // Register for ActuatorSettings changes:
-    connect(ui.actuatorMin, SIGNAL(editingFinished()),
+    connect(ui.actuatorMin, SIGNAL(editingFinished()), this, SLOT(setChannelRange()));
-            this, SLOT(setChannelRange()));
+    connect(ui.actuatorMax, SIGNAL(editingFinished()), this, SLOT(setChannelRange()));
-    connect(ui.actuatorMax, SIGNAL(editingFinished()),
+    connect(ui.actuatorRev, SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
-            this, SLOT(setChannelRange()));
-    connect(ui.actuatorRev, SIGNAL(toggled(bool)),
-            this, SLOT(reverseChannel(bool)));
     // Now connect the channel out sliders to our signal to send updates in test mode
-    connect(ui.actuatorNeutral, SIGNAL(valueChanged(int)),
+    connect(ui.actuatorNeutral, SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
-            this, SLOT(sendChannelTest(int)));
 
     ui.actuatorLink->setChecked(false);
-    connect(ui.actuatorLink, SIGNAL(toggled(bool)),
+    connect(ui.actuatorLink, SIGNAL(toggled(bool)), this, SLOT(linkToggled(bool)));
-            this, SLOT(linkToggled(bool)));
 
     disableMouseWheelEvents();
 }
@@ -81,6 +53,19 @@ OutputChannelForm::~OutputChannelForm()
     // Do nothing
 }
 
+QString OutputChannelForm::name()
+{
+    return ui.actuatorName->text();
+}
+
+/**
+ * Set the channel assignment label.
+ */
+void OutputChannelForm::setName(const QString &name)
+{
+    ui.actuatorName->setText(name);
+}
+
 /**
  * Restrict UI to protect users from accidental misuse.
  */
@@ -149,26 +134,49 @@ void OutputChannelForm::linkToggled(bool state)
     }
 }
 
+int OutputChannelForm::max() const
+{
+    return ui.actuatorMax->value();
+}
+
 /**
  * Set maximal channel value.
  */
-void OutputChannelForm::max(int maximum)
+void OutputChannelForm::setMax(int maximum)
 {
-    minmax(ui.actuatorMin->value(), maximum);
+    setRange(ui.actuatorMin->value(), maximum);
+}
+
+int OutputChannelForm::min() const
+{
+    return ui.actuatorMin->value();
 }
 
 /**
  * Set minimal channel value.
  */
-void OutputChannelForm::min(int minimum)
+void OutputChannelForm::setMin(int minimum)
 {
-    minmax(minimum, ui.actuatorMax->value());
+    setRange(minimum, ui.actuatorMax->value());
+}
+
+int OutputChannelForm::neutral() const
+{
+    return ui.actuatorNeutral->value();
+}
+
+/**
+ * Set neutral of channel.
+ */
+void OutputChannelForm::setNeutral(int value)
+{
+    ui.actuatorNeutral->setValue(value);
 }
 
 /**
  * Set minimal and maximal channel value.
  */
-void OutputChannelForm::minmax(int minimum, int maximum)
+void OutputChannelForm::setRange(int minimum, int maximum)
 {
     ui.actuatorMin->setValue(minimum);
     ui.actuatorMax->setValue(maximum);
@@ -180,35 +188,6 @@ void OutputChannelForm::minmax(int minimum, int maximum)
     }
 }
 
-/**
- * Set neutral of channel.
- */
-void OutputChannelForm::neutral(int value)
-{
-    ui.actuatorNeutral->setValue(value);
-}
-
-/**
- * Set the channel assignment label.
- */
-void OutputChannelForm::setAssignment(const QString &assignment)
-{
-    ui.actuatorName->setText(assignment);
-    QFontMetrics metrics(ui.actuatorName->font());
-    int width = metrics.width(assignment) + 1;
-    foreach(OutputChannelForm * form, parent()->findChildren<OutputChannelForm *>()) {
-        if (form == this) {
-            continue;
-        }
-        if (form->ui.actuatorName->minimumSize().width() < width) {
-            form->ui.actuatorName->setMinimumSize(width, 0);
-        } else {
-            width = form->ui.actuatorName->minimumSize().width();
-        }
-    }
-    ui.actuatorName->setMinimumSize(width, 0);
-}
-
 /**
  * Sets the minimum/maximum value of the channel output sliders.
  * Have to do it here because setMinimum is not a slot.
@@ -220,7 +199,7 @@ void OutputChannelForm::setChannelRange()
 {
     int oldMini = ui.actuatorNeutral->minimum();
 
-// int oldMaxi = ui.actuatorNeutral->maximum();
+    // int oldMaxi = ui.actuatorNeutral->maximum();
 
     if (ui.actuatorMin->value() < ui.actuatorMax->value()) {
         ui.actuatorNeutral->setRange(ui.actuatorMin->value(), ui.actuatorMax->value());
@@ -234,8 +213,9 @@ void OutputChannelForm::setChannelRange()
         ui.actuatorNeutral->setValue(ui.actuatorNeutral->minimum());
     }
 
-// if (ui.actuatorNeutral->value() == oldMaxi)
+    // if (ui.actuatorNeutral->value() == oldMaxi)
-// ui.actuatorNeutral->setValue(ui.actuatorNeutral->maximum());  // this can be dangerous if it happens to be controlling a motor at the time!
+    // this can be dangerous if it happens to be controlling a motor at the time!
+    // ui.actuatorNeutral->setValue(ui.actuatorNeutral->maximum());
 }
 
 /**
@@ -252,8 +232,7 @@ void OutputChannelForm::reverseChannel(bool state)
         return;
     }
 
-    // Now, swap the min & max values (only on the spinboxes, the slider
+    // Now, swap the min & max values (only on the spinboxes, the slider does not change!)
-    // does not change!
     int temp = ui.actuatorMax->value();
     ui.actuatorMax->setValue(ui.actuatorMin->value());
     ui.actuatorMin->setValue(temp);
@@ -286,12 +265,14 @@ void OutputChannelForm::sendChannelTest(int value)
     }
 
     if (ui.actuatorRev->isChecked()) {
-        value = ui.actuatorMin->value() - value + ui.actuatorMax->value(); // the channel is reversed
+        // the channel is reversed
+        value = ui.actuatorMin->value() - value + ui.actuatorMax->value();
     }
     // update the label
-    ui.actuatorValue->setText(QString::number(value));
+    ui.actuatorValue->setValue(value);
 
-    if (ui.actuatorLink->checkState() && parent()) { // the channel is linked to other channels
+    if (ui.actuatorLink->checkState() && parent()) {
+        // the channel is linked to other channels
         QList<OutputChannelForm *> outputChannelForms = parent()->findChildren<OutputChannelForm *>();
         // set the linked channels of the parent widget to the same value
         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
@@ -315,12 +296,13 @@ void OutputChannelForm::sendChannelTest(int value)
             }
 
             outputChannelForm->ui.actuatorNeutral->setValue(val);
-            outputChannelForm->ui.actuatorValue->setText(QString::number(val));
+            outputChannelForm->ui.actuatorValue->setValue(val);
         }
     }
 
     if (!m_inChannelTest) {
-        return; // we are not in Test Output mode
+        // we are not in Test Output mode
+        return;
     }
     emit channelChanged(index(), value);
 }

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

@@ -27,29 +27,32 @@
 #ifndef OUTPUTCHANNELFORM_H
 #define OUTPUTCHANNELFORM_H
 
-#include <QWidget>
+#include "channelform.h"
+#include "configoutputwidget.h"
 #include "ui_outputchannelform.h"
-#include "configtaskwidget.h"
 
-class OutputChannelForm : public ConfigTaskWidget {
+#include <QWidget>
+
+class OutputChannelForm : public ChannelForm {
     Q_OBJECT
 
 public:
-    explicit OutputChannelForm(const int index, QWidget *parent = NULL, const bool showLegend = false);
+    explicit OutputChannelForm(const int index, QWidget *parent = NULL);
     ~OutputChannelForm();
+
     friend class ConfigOutputWidget;
 
-    void setAssignment(const QString &assignment);
+    virtual QString name();
-    int index() const;
+    virtual void setName(const QString &name);
 
 public slots:
-    void max(int maximum);
-    int max() const;
-    void min(int minimum);
     int min() const;
-    void minmax(int minimum, int maximum);
+    void setMin(int minimum);
-    void neutral(int value);
+    int max() const;
+    void setMax(int maximum);
     int neutral() const;
+    void setNeutral(int value);
+    void setRange(int minimum, int maximum);
     void enableChannelTest(bool state);
 
 signals:
@@ -57,8 +60,6 @@ signals:
 
 private:
     Ui::outputChannelForm ui;
-    /// Channel index
-    int m_index;
     bool m_inChannelTest;
 
 private slots:
@@ -68,23 +69,4 @@ private slots:
     void setChannelRange();
 };
 
-inline int OutputChannelForm::index() const
-{
-    return m_index;
-}
-
-inline int OutputChannelForm::max() const
-{
-    return ui.actuatorMax->value();
-}
-
-inline int OutputChannelForm::min() const
-{
-    return ui.actuatorMin->value();
-}
-
-inline int OutputChannelForm::neutral() const
-{
-    return ui.actuatorNeutral->value();
-}
 #endif // OUTPUTCHANNELFORM_H

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

@@ -6,39 +6,52 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>825</width>
+    <width>768</width>
-    <height>58</height>
+    <height>51</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
    <property name="topMargin">
-    <number>1</number>
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
    </property>
    <property name="bottomMargin">
-    <number>1</number>
+    <number>0</number>
    </property>
    <property name="horizontalSpacing">
     <number>12</number>
    </property>
-   <item row="0" column="11">
+   <item row="0" column="1">
-    <widget class="QLabel" name="legend5">
+    <widget class="QLabel" name="legend0">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
      <property name="minimumSize">
       <size>
-       <width>45</width>
+       <width>0</width>
        <height>20</height>
       </size>
      </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
      <property name="font">
       <font>
+       <pointsize>-1</pointsize>
        <weight>75</weight>
        <italic>false</italic>
        <bold>true</bold>
@@ -48,37 +61,61 @@
       <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;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
      </property>
      <property name="text">
-      <string>Link</string>
+      <string>Assignment</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignCenter</set>
      </property>
     </widget>
    </item>
-   <item row="1" column="8">
+   <item row="0" column="2">
-    <widget class="QSpinBox" name="actuatorMax">
+    <widget class="QLabel" name="legend1">
+     <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>
+       <height>20</height>
       </size>
      </property>
-     <property name="focusPolicy">
+     <property name="maximumSize">
-      <enum>Qt::StrongFocus</enum>
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
      </property>
-     <property name="toolTip">
+     <property name="font">
-      <string>Maximum PWM value, beware of not overdriving your servo.</string>
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
      </property>
-     <property name="maximum">
+     <property name="styleSheet">
-      <number>9999</number>
+      <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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Min</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
      </property>
     </widget>
    </item>
-   <item row="0" column="4" colspan="2">
+   <item row="0" column="4">
     <widget class="QLabel" name="legend2">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
@@ -94,6 +131,7 @@ margin:1px;</string>
      </property>
      <property name="font">
       <font>
+       <pointsize>-1</pointsize>
        <weight>75</weight>
        <italic>false</italic>
        <bold>true</bold>
@@ -103,7 +141,7 @@ margin:1px;</string>
       <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;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
      </property>
      <property name="text">
@@ -114,10 +152,26 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
+   <item row="0" column="5">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>5</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
    <item row="0" column="0">
     <widget class="QLabel" name="legend6">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -128,8 +182,15 @@ margin:1px;</string>
        <height>20</height>
       </size>
      </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
      <property name="font">
       <font>
+       <pointsize>-1</pointsize>
        <weight>75</weight>
        <italic>false</italic>
        <bold>true</bold>
@@ -142,7 +203,7 @@ margin:1px;</string>
       <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;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
      </property>
      <property name="text">
@@ -156,13 +217,13 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="6">
+   <item row="0" column="3">
-    <spacer name="horizontalSpacer_2">
+    <spacer name="horizontalSpacer_3">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
      <property name="sizeType">
-      <enum>QSizePolicy::Minimum</enum>
+      <enum>QSizePolicy::Fixed</enum>
      </property>
      <property name="sizeHint" stdset="0">
       <size>
@@ -172,10 +233,42 @@ margin:1px;</string>
      </property>
     </spacer>
    </item>
-   <item row="0" column="1">
+   <item row="1" column="5">
-    <widget class="QLabel" name="legend0">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>5</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="3">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>5</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="2">
+    <widget class="QSpinBox" name="actuatorMin">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -183,37 +276,13 @@ margin:1px;</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>20</height>
+       <height>0</height>
       </size>
      </property>
-     <property name="font">
+     <property name="maximumSize">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </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;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Assignment</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="2">
-    <widget class="QSpinBox" name="actuatorMin">
-     <property name="minimumSize">
       <size>
-       <width>0</width>
+       <width>16777215</width>
-       <height>25</height>
+       <height>16777215</height>
       </size>
      </property>
      <property name="focusPolicy">
@@ -222,69 +291,14 @@ margin:1px;</string>
      <property name="toolTip">
       <string>Minimum PWM value, beware of not overdriving your servo.</string>
      </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="4">
-    <widget class="QSlider" name="actuatorNeutral">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="MinimumExpanding" 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="maximum">
-      <number>9999</number>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="8">
-    <widget class="QLabel" name="legend3">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </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;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Max</string>
-     </property>
      <property name="alignment">
-      <set>Qt::AlignCenter</set>
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="value">
+      <number>0</number>
      </property>
     </widget>
    </item>
@@ -299,35 +313,154 @@ margin:1px;</string>
      <property name="minimumSize">
       <size>
        <width>20</width>
-       <height>25</height>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
       </size>
      </property>
      <property name="toolTip">
       <string>Channel Number</string>
      </property>
      <property name="text">
-      <string>TextLabel</string>
+      <string>0:</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignCenter</set>
      </property>
     </widget>
    </item>
-   <item row="1" column="3">
+   <item row="0" column="6">
-    <spacer name="horizontalSpacer">
+    <widget class="QLabel" name="legend3">
-     <property name="orientation">
+     <property name="sizePolicy">
-      <enum>Qt::Horizontal</enum>
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
      </property>
-     <property name="sizeType">
+     <property name="minimumSize">
-      <enum>QSizePolicy::Minimum</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
       <size>
-       <width>5</width>
+       <width>0</width>
        <height>20</height>
       </size>
      </property>
-    </spacer>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Max</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="7">
+    <widget class="QLabel" name="legend4">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Reversed</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="8">
+    <widget class="QLabel" name="legend5">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </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;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Link</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
    </item>
    <item row="1" column="1">
     <widget class="QLabel" name="actuatorName">
@@ -340,21 +473,27 @@ margin:1px;</string>
      <property name="minimumSize">
       <size>
        <width>110</width>
-       <height>25</height>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
       </size>
      </property>
      <property name="text">
-      <string>TextLabel</string>
+      <string>-</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignCenter</set>
      </property>
     </widget>
    </item>
-   <item row="0" column="9">
+   <item row="1" column="6">
-    <widget class="QLabel" name="legend4">
+    <widget class="QSpinBox" name="actuatorMax">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -362,98 +501,133 @@ margin:1px;</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>20</height>
+       <height>0</height>
       </size>
      </property>
-     <property name="font">
+     <property name="maximumSize">
-      <font>
+      <size>
-       <weight>75</weight>
+       <width>16777215</width>
-       <italic>false</italic>
+       <height>16777215</height>
-       <bold>true</bold>
+      </size>
-      </font>
      </property>
-     <property name="styleSheet">
+     <property name="focusPolicy">
-      <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));
+      <enum>Qt::StrongFocus</enum>
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
      </property>
-     <property name="text">
+     <property name="toolTip">
-      <string>Reversed</string>
+      <string>Maximum PWM value, beware of not overdriving your servo.</string>
      </property>
      <property name="alignment">
-      <set>Qt::AlignCenter</set>
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
      </property>
     </widget>
    </item>
-   <item row="1" column="5">
+   <item row="1" column="4">
-    <widget class="QLabel" name="actuatorValue">
+    <widget class="QFrame" name="frame">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <property name="leftMargin">
+       <number>2</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>2</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QSlider" name="actuatorNeutral">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>50</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
+        <property name="maximum">
+         <number>9999</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSpinBox" name="actuatorValue">
+        <property name="enabled">
+         <bool>true</bool>
+        </property>
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="frame">
+         <bool>true</bool>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+        <property name="buttonSymbols">
+         <enum>QAbstractSpinBox::UpDownArrows</enum>
+        </property>
+        <property name="maximum">
+         <number>9999</number>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="7">
+    <widget class="QFrame" name="frame_1">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="toolTip">
-      <string>Current value of slider.</string>
-     </property>
-     <property name="text">
-      <string>0000</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="2">
-    <widget class="QLabel" name="legend1">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </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;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Min</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="9">
-    <widget class="QFrame" name="frame">
      <property name="minimumSize">
       <size>
        <width>75</width>
        <height>0</height>
       </size>
      </property>
-     <layout class="QGridLayout" name="gridLayout_2">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="spacing">
+       <number>0</number>
+      </property>
       <property name="leftMargin">
        <number>0</number>
       </property>
@@ -466,13 +640,10 @@ margin:1px;</string>
       <property name="bottomMargin">
        <number>0</number>
       </property>
-      <property name="spacing">
+      <item alignment="Qt::AlignHCenter">
-       <number>0</number>
-      </property>
-      <item row="0" column="0">
        <widget class="QCheckBox" name="actuatorRev">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -494,8 +665,14 @@ margin:1px;</string>
      </layout>
     </widget>
    </item>
-   <item row="1" column="11">
+   <item row="1" column="8">
-    <widget class="QFrame" name="frame_1">
+    <widget class="QFrame" name="frame_2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="minimumSize">
       <size>
        <width>45</width>
@@ -506,9 +683,12 @@ margin:1px;</string>
       <enum>QFrame::NoFrame</enum>
      </property>
      <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
+      <enum>QFrame::Plain</enum>
      </property>
-     <layout class="QGridLayout" name="gridLayout_3">
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <property name="spacing">
+       <number>0</number>
+      </property>
       <property name="leftMargin">
        <number>0</number>
       </property>
@@ -521,13 +701,10 @@ margin:1px;</string>
       <property name="bottomMargin">
        <number>0</number>
       </property>
-      <property name="spacing">
+      <item alignment="Qt::AlignHCenter">
-       <number>0</number>
-      </property>
-      <item row="0" column="0" alignment="Qt::AlignHCenter">
        <widget class="QCheckBox" name="actuatorLink">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -551,11 +728,6 @@ margin:1px;</string>
    </item>
   </layout>
  </widget>
- <tabstops>
-  <tabstop>actuatorMin</tabstop>
-  <tabstop>actuatorNeutral</tabstop>
-  <tabstop>actuatorMax</tabstop>
- </tabstops>
  <resources/>
  <connections/>
 </ui>

ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp

@@ -270,7 +270,7 @@ void MainWindow::extensionsInitialized()
 
     // We'll use qApp macro to get the QApplication pointer
     // and set the style sheet application wide.
-    qDebug() << "Setting application style sheet to:" << style;
+    // qDebug() << "Setting application style sheet to:" << style;
     qApp->setStyleSheet(style);
 
     qs->endGroup();

ground/openpilotgcs/src/plugins/plugins.pro

@@ -52,8 +52,9 @@ plugin_uavtalk.depends += plugin_coreplugin
 # Telemetry plugin
 SUBDIRS += plugin_telemetry
 plugin_telemetry.subdir = telemetry
+plugin_telemetry.depends = plugin_coreplugin
+plugin_telemetry.depends += plugin_uavobjectutil
 plugin_telemetry.depends += plugin_uavtalk
-plugin_telemetry.depends += plugin_coreplugin
 
 # OPMap UAVGadget
 plugin_opmap.subdir = opmap
@@ -98,9 +99,9 @@ macx:contains(QT_VERSION, ^4\\.8\\.0): CONFIG += disable_notify_plugin
 plugin_uploader.subdir = uploader
 plugin_uploader.depends = plugin_coreplugin
 plugin_uploader.depends += plugin_uavobjects
+plugin_uploader.depends += plugin_uavobjectutil
 plugin_uploader.depends += plugin_uavtalk
 plugin_uploader.depends += plugin_opHID
-plugin_uploader.depends += plugin_uavobjectutil
 SUBDIRS += plugin_uploader
 
 # Dial gadget

ground/openpilotgcs/src/plugins/telemetry/telemetry.pro

@@ -1,12 +1,11 @@
 TEMPLATE = lib
 TARGET = Telemetry
+DEFINES += TELEMETRY_LIBRARY
 
 QT += svg
 
-include(../../openpilotgcsplugin.pri) 
-include(../../plugins/coreplugin/coreplugin.pri) 
-include(../../libs/version_info/version_info.pri)
 include(telemetry_dependencies.pri)
+include(../../libs/version_info/version_info.pri)
 
 HEADERS += telemetry_global.h \
     telemetryplugin.h \
@@ -23,8 +22,6 @@ SOURCES += telemetryplugin.cpp \
     monitorgadgetfactory.cpp \
     monitorgadgetoptionspage.cpp
 
-DEFINES += TELEMETRY_LIBRARY
+OTHER_FILES += Telemetry.pluginspec
 
 RESOURCES += telemetry.qrc
-
-OTHER_FILES += Telemetry.pluginspec

ground/openpilotgcs/src/plugins/telemetry/telemetry_dependencies.pri

@@ -1,4 +1,4 @@
-include(../../plugins/uavobjects/uavobjects.pri)
+include(../../openpilotgcsplugin.pri)
+include(../../plugins/coreplugin/coreplugin.pri)
 include(../../plugins/uavobjectutil/uavobjectutil.pri)
 include(../../plugins/uavtalk/uavtalk.pri)
-

ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp

@@ -199,14 +199,14 @@ void UAVObjectField::limitsInitialize(const QString &limits)
         elementLimits.insert(index, limitList);
         ++index;
     }
-    foreach(QList<LimitStruct> limitList, elementLimits) {
+    // foreach(QList<LimitStruct> limitList, elementLimits) {
-        foreach(LimitStruct limit, limitList) {
+    // foreach(LimitStruct limit, limitList) {
-            qDebug() << "Limit type" << limit.type << "for board" << limit.board << "for field" << getName();
+    // qDebug() << "Limit type" << limit.type << "for board" << limit.board << "for field" << getName();
-            foreach(QVariant var, limit.values) {
+    // foreach(QVariant var, limit.values) {
-                qDebug() << "value" << var;
+    // qDebug() << "value" << var;
-            }
+    // }
-        }
+    // }
-    }
+    // }
 }
 bool UAVObjectField::isWithinLimits(QVariant var, quint32 index, int board)
 {
@@ -811,43 +811,31 @@ bool UAVObjectField::isNumeric()
 {
     switch (type) {
     case INT8:
-        return true;
-
-        break;
     case INT16:
-        return true;
-
-        break;
     case INT32:
-        return true;
-
-        break;
     case UINT8:
-        return true;
-
-        break;
     case UINT16:
-        return true;
-
-        break;
     case UINT32:
-        return true;
-
-        break;
     case FLOAT32:
-        return true;
-
-        break;
-    case ENUM:
-        return false;
-
-        break;
     case BITFIELD:
         return true;
 
         break;
-    case STRING:
+    default:
         return false;
+    }
+}
+
+bool UAVObjectField::isInteger()
+{
+    switch (type) {
+    case INT8:
+    case INT16:
+    case INT32:
+    case UINT8:
+    case UINT16:
+    case UINT32:
+        return true;
 
         break;
     default:
@@ -858,42 +846,7 @@ bool UAVObjectField::isNumeric()
 bool UAVObjectField::isText()
 {
     switch (type) {
-    case INT8:
-        return false;
-
-        break;
-    case INT16:
-        return false;
-
-        break;
-    case INT32:
-        return false;
-
-        break;
-    case UINT8:
-        return false;
-
-        break;
-    case UINT16:
-        return false;
-
-        break;
-    case UINT32:
-        return false;
-
-        break;
-    case FLOAT32:
-        return false;
-
-        break;
     case ENUM:
-        return true;
-
-        break;
-    case BITFIELD:
-        return false;
-
-        break;
     case STRING:
         return true;
 

ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h

@@ -71,6 +71,7 @@ public:
     quint32 getDataOffset();
     quint32 getNumBytes();
     bool isNumeric();
+    bool isInteger();
     bool isText();
     QString toString();
     void toXML(QXmlStreamWriter *xmlWriter);

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

@@ -58,7 +58,7 @@ void ConfigTaskWidget::addUAVObject(QString objectName, QList<int> *reloadGroups
 
 void ConfigTaskWidget::addUAVObject(UAVObject *objectName, QList<int> *reloadGroups)
 {
-    addUAVObject(objectName ? objectName->getName() : QString(""), reloadGroups);
+    addUAVObject(objectName ? objectName->getName() : QString(), reloadGroups);
 }
 
 int ConfigTaskWidget::fieldIndexFromElementName(QString objectName, QString fieldName, QString elementName)
@@ -84,7 +84,7 @@ void ConfigTaskWidget::addWidgetBinding(QString objectName, QString fieldName, Q
 
 void ConfigTaskWidget::addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, QString elementName)
 {
-    addWidgetBinding(object ? object->getName() : QString(""), field ? field->getName() : QString(""), widget, elementName);
+    addWidgetBinding(object ? object->getName() : QString(), field ? field->getName() : QString(), widget, elementName);
 }
 
 void ConfigTaskWidget::addWidgetBinding(QString objectName, QString fieldName, QWidget *widget, QString elementName, double scale,
@@ -97,14 +97,14 @@ void ConfigTaskWidget::addWidgetBinding(QString objectName, QString fieldName, Q
 void ConfigTaskWidget::addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, QString elementName, double scale,
                                         bool isLimited, QList<int> *reloadGroupIDs, quint32 instID)
 {
-    addWidgetBinding(object ? object->getName() : QString(""), field ? field->getName() : QString(""), widget, elementName, scale,
+    addWidgetBinding(object ? object->getName() : QString(), field ? field->getName() : QString(), widget, elementName, scale,
                      isLimited, reloadGroupIDs, instID);
 }
 
 void ConfigTaskWidget::addWidgetBinding(UAVObject *object, UAVObjectField *field, QWidget *widget, int index, double scale,
                                         bool isLimited, QList<int> *reloadGroupIDs, quint32 instID)
 {
-    addWidgetBinding(object ? object->getName() : QString(""), field ? field->getName() : QString(""), widget, index, scale,
+    addWidgetBinding(object ? object->getName() : QString(), field ? field->getName() : QString(), widget, index, scale,
                      isLimited, reloadGroupIDs, instID);
 }
 
@@ -146,7 +146,6 @@ void ConfigTaskWidget::doAddWidgetBinding(QString objectName, QString fieldName,
     binding->setIsEnabled(m_widgetBindingsPerWidget.count(widget) == 0);
     m_widgetBindingsPerWidget.insert(widget, binding);
 
-
     if (object) {
         m_widgetBindingsPerObject.insert(object, binding);
         if (m_saveButton) {
@@ -183,9 +182,9 @@ void ConfigTaskWidget::setWidgetBindingObjectEnabled(QString objectName, bool en
         binding->setIsEnabled(enabled);
         if (enabled) {
             if (binding->value().isValid() && !binding->value().isNull()) {
-                setWidgetFromVariant(binding->widget(), binding->value(), binding->scale());
+                setWidgetFromVariant(binding->widget(), binding->value(), binding);
             } else {
-                setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited());
+                setWidgetFromField(binding->widget(), binding->field(), binding);
             }
         }
     }
@@ -236,7 +235,8 @@ void ConfigTaskWidget::onAutopilotDisconnect()
     invalidateObjects();
 }
 
-void ConfigTaskWidget::forceConnectedState() // dynamic widgets don't recieve the connected signal. This should be called instead.
+// dynamic widgets don't recieve the connected signal. This should be called instead.
+void ConfigTaskWidget::forceConnectedState()
 {
     m_isConnected = true;
     setDirty(false);
@@ -261,7 +261,7 @@ void ConfigTaskWidget::populateWidgets()
 
     foreach(WidgetBinding * binding, m_widgetBindingsPerObject) {
         if (binding->isEnabled() && binding->object() != NULL && binding->field() != NULL && binding->widget() != NULL) {
-            setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited());
+            setWidgetFromField(binding->widget(), binding->field(), binding);
         }
     }
     setDirty(dirtyBack);
@@ -277,7 +277,7 @@ void ConfigTaskWidget::refreshWidgetsValues(UAVObject *obj)
     emit refreshWidgetsValuesRequested();
     foreach(WidgetBinding * binding, m_widgetBindingsPerObject.values(obj)) {
         if (binding->isEnabled() && binding->field() != NULL && binding->widget() != NULL) {
-            setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited());
+            setWidgetFromField(binding->widget(), binding->field(), binding);
         }
     }
     setDirty(dirtyBack);
@@ -357,13 +357,15 @@ void ConfigTaskWidget::forceShadowUpdates()
         if (!binding->isEnabled()) {
             continue;
         }
-        QVariant widgetValue = getVariantFromWidget(binding->widget(), binding->scale(), binding->units());
+        QVariant widgetValue = getVariantFromWidget(binding->widget(), binding);
 
         foreach(ShadowWidgetBinding * shadow, binding->shadows()) {
             disconnectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged()));
 
             checkWidgetsLimits(shadow->widget(), binding->field(), binding->index(), shadow->isLimited(), widgetValue, shadow->scale());
-            setWidgetFromVariant(shadow->widget(), widgetValue, shadow->scale());
+
+            WidgetBinding tmpBinding(shadow->widget(), binding->object(), binding->field(), binding->index(), shadow->scale(), shadow->isLimited());
+            setWidgetFromVariant(shadow->widget(), widgetValue, &tmpBinding);
 
             emit widgetContentsChanged(shadow->widget());
             connectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged()));
@@ -376,25 +378,23 @@ void ConfigTaskWidget::widgetsContentsChanged()
 {
     QWidget *emitter = ((QWidget *)sender());
     emit widgetContentsChanged(emitter);
-    double scale     = 1.0;
     QVariant value;
 
     foreach(WidgetBinding * binding, m_widgetBindingsPerWidget.values(emitter)) {
         if (binding && binding->isEnabled()) {
             if (binding->widget() == emitter) {
-                scale = binding->scale();
+                value = getVariantFromWidget(emitter, binding);
-                checkWidgetsLimits(emitter, binding->field(), binding->index(), binding->isLimited(),
+                checkWidgetsLimits(emitter, binding->field(), binding->index(), binding->isLimited(), value, binding->scale());
-                                   getVariantFromWidget(emitter, scale, binding->units()), scale);
             } else {
                 foreach(ShadowWidgetBinding * shadow, binding->shadows()) {
                     if (shadow->widget() == emitter) {
-                        scale = shadow->scale();
+                        WidgetBinding tmpBinding(shadow->widget(), binding->object(), binding->field(),
-                        checkWidgetsLimits(emitter, binding->field(), binding->index(), shadow->isLimited(),
+                                                 binding->index(), shadow->scale(), shadow->isLimited());
-                                           getVariantFromWidget(emitter, scale, binding->units()), scale);
+                        value = getVariantFromWidget(emitter, &tmpBinding);
+                        checkWidgetsLimits(emitter, binding->field(), binding->index(), shadow->isLimited(), value, shadow->scale());
                     }
                 }
             }
-            value = getVariantFromWidget(emitter, scale, binding->units());
             binding->setValue(value);
 
             if (binding->widget() != emitter) {
@@ -402,7 +402,7 @@ void ConfigTaskWidget::widgetsContentsChanged()
 
                 checkWidgetsLimits(binding->widget(), binding->field(), binding->index(), binding->isLimited(),
                                    value, binding->scale());
-                setWidgetFromVariant(binding->widget(), value, binding->scale());
+                setWidgetFromVariant(binding->widget(), value, binding);
                 emit widgetContentsChanged(binding->widget());
 
                 connectWidgetUpdatesToSlot(binding->widget(), SLOT(widgetsContentsChanged()));
@@ -413,7 +413,8 @@ void ConfigTaskWidget::widgetsContentsChanged()
 
                     checkWidgetsLimits(shadow->widget(), binding->field(), binding->index(), shadow->isLimited(),
                                        value, shadow->scale());
-                    setWidgetFromVariant(shadow->widget(), value, shadow->scale());
+                    WidgetBinding tmp(shadow->widget(), binding->object(), binding->field(), binding->index(), shadow->scale(), shadow->isLimited());
+                    setWidgetFromVariant(shadow->widget(), value, &tmp);
                     emit widgetContentsChanged(shadow->widget());
 
                     connectWidgetUpdatesToSlot(shadow->widget(), SLOT(widgetsContentsChanged()));
@@ -708,7 +709,7 @@ void ConfigTaskWidget::defaultButtonClicked()
             continue;
         }
         UAVDataObject *temp = ((UAVDataObject *)binding->object())->dirtyClone();
-        setWidgetFromField(binding->widget(), temp->getField(binding->field()->getName()), binding->index(), binding->scale(), binding->isLimited());
+        setWidgetFromField(binding->widget(), temp->getField(binding->field()->getName()), binding);
     }
 }
 
@@ -751,7 +752,7 @@ void ConfigTaskWidget::reloadButtonClicked()
             if (m_realtimeUpdateTimer->isActive()) {
                 binding->object()->requestUpdate();
                 if (binding->widget()) {
-                    setWidgetFromField(binding->widget(), binding->field(), binding->index(), binding->scale(), binding->isLimited());
+                    setWidgetFromField(binding->widget(), binding->field(), binding);
                 }
             }
             m_realtimeUpdateTimer->stop();
@@ -823,9 +824,14 @@ void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget *widget, const char
     }
 }
 
-QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, QString units)
+QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, WidgetBinding *binding)
 {
+    double scale = binding->scale();
+
     if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
+        if (binding->isInteger()) {
+            return cb->currentIndex();
+        }
         return (QString)cb->currentText();
     } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
         return (double)(cb->value() * scale);
@@ -837,7 +843,7 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, Q
         return (QString)(cb->isChecked() ? "TRUE" : "FALSE");
     } else if (QLineEdit * cb = qobject_cast<QLineEdit *>(widget)) {
         QString value = (QString)cb->displayText();
-        if (units == "hex") {
+        if (binding->units() == "hex") {
             bool ok;
             return value.toUInt(&ok, 16);
         } else {
@@ -848,11 +854,18 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, Q
     }
 }
 
-bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale, QString units)
+bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, WidgetBinding *binding)
 {
+    double scale = binding->scale();
+
     if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
-        cb->setCurrentIndex(cb->findText(value.toString()));
+        bool ok = true;
-        return true;
+        if (binding->isInteger()) {
+            cb->setCurrentIndex(value.toInt(&ok));
+        } else {
+            cb->setCurrentIndex(cb->findText(value.toString()));
+        }
+        return ok;
     } else if (QLabel * cb = qobject_cast<QLabel *>(widget)) {
         if (scale == 0) {
             cb->setText(value.toString());
@@ -875,7 +888,7 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, dou
         return true;
     } else if (QLineEdit * cb = qobject_cast<QLineEdit *>(widget)) {
         if ((scale == 0) || (scale == 1)) {
-            if (units == "hex") {
+            if (binding->units() == "hex") {
                 cb->setText(QString::number(value.toUInt(), 16).toUpper());
             } else {
                 cb->setText(value.toString());
@@ -889,24 +902,19 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, dou
     }
 }
 
-bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale)
+bool ConfigTaskWidget::setWidgetFromField(QWidget *widget, UAVObjectField *field, WidgetBinding *binding)
-{
-    return setWidgetFromVariant(widget, value, scale, QString(""));
-}
-
-bool ConfigTaskWidget::setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, double scale, bool hasLimits)
 {
     if (!widget || !field) {
         return false;
     }
     if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
         if (cb->count() == 0) {
-            loadWidgetLimits(cb, field, index, hasLimits, scale);
+            loadWidgetLimits(cb, field, binding->index(), binding->isLimited(), binding->scale());
         }
     }
-    QVariant value = field->getValue(index);
+    QVariant value = field->getValue(binding->index());
-    checkWidgetsLimits(widget, field, index, hasLimits, value, scale);
+    checkWidgetsLimits(widget, field, binding->index(), binding->isLimited(), value, binding->scale());
-    bool result    = setWidgetFromVariant(widget, value, scale, field->getUnits());
+    bool result    = setWidgetFromVariant(widget, value, binding);
     if (result) {
         return true;
     } else {
@@ -1070,7 +1078,23 @@ QString WidgetBinding::units() const
     if (m_field) {
         return m_field->getUnits();
     }
-    return QString("");
+    return QString();
+}
+
+QString WidgetBinding::type() const
+{
+    if (m_field) {
+        return m_field->getTypeAsString();
+    }
+    return QString();
+}
+
+bool WidgetBinding::isInteger() const
+{
+    if (m_field) {
+        return m_field->isInteger();
+    }
+    return false;
 }
 
 UAVObject *WidgetBinding::object() const

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

@@ -69,6 +69,8 @@ public:
     ~WidgetBinding();
 
     QString units() const;
+    QString type() const;
+    bool isInteger() const;
     UAVObject *object() const;
     UAVObjectField *field() const;
     int index() const;
@@ -219,11 +221,10 @@ private:
     QString m_outOfLimitsStyle;
     QTimer *m_realtimeUpdateTimer;
 
-    bool setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, double scale, bool hasLimits);
+    bool setWidgetFromField(QWidget *widget, UAVObjectField *field, WidgetBinding *binding);
 
-    QVariant getVariantFromWidget(QWidget *widget, double scale, const QString units);
+    QVariant getVariantFromWidget(QWidget *widget, WidgetBinding *binding);
-    bool setWidgetFromVariant(QWidget *widget, QVariant value, double scale, QString units);
+    bool setWidgetFromVariant(QWidget *widget, QVariant value, WidgetBinding *binding);
-    bool setWidgetFromVariant(QWidget *widget, QVariant value, double scale);
 
     void connectWidgetUpdatesToSlot(QWidget *widget, const char *function);
     void disconnectWidgetUpdatesToSlot(QWidget *widget, const char *function);

ground/openpilotgcs/src/plugins/uploader/uploader.pro

@@ -46,15 +46,14 @@ SOURCES += uploadergadget.cpp \
     SSP/qsspt.cpp \
     runningdevicewidget.cpp
 
-OTHER_FILES += Uploader.pluginspec \
+OTHER_FILES += Uploader.pluginspec
 
 FORMS += \
     uploader.ui \
     devicewidget.ui \
     runningdevicewidget.ui
 
-RESOURCES += \
+RESOURCES += uploader.qrc
-    uploader.qrc
 
 exists( ../../../../../build/openpilotgcs-synthetics/opfw_resource.qrc ) {
     RESOURCES += ../../../../../build/openpilotgcs-synthetics/opfw_resource.qrc

make/apps-defs.mk

@@ -99,7 +99,7 @@ SRC += $(PIOSCOMMON)/pios_usb_util.c
 ## PIOS system code
 SRC += $(PIOSCOMMON)/pios_task_monitor.c
 SRC += $(PIOSCOMMON)/pios_callbackscheduler.c
-
+SRC += $(PIOSCOMMON)/pios_notify.c
 ## Misc library functions
 SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/sanitycheck.c

shared/uavobjectdefinition/airspeedsettings.xml

@@ -4,7 +4,7 @@
         <field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/>
         <field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
         <field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
-        <field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None"  defaultvalue="GroundSpeedBasedWindEstimation"/>
+        <field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None"  defaultvalue="None"/>
 	<field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" />
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/hwsettings.xml

@@ -25,6 +25,7 @@
 		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,Autotune,VtolPathFollower,FixedWingPathFollower,Battery,Overo,MagBaro,OsdHk" options="Disabled,Enabled" defaultvalue="Disabled"/>
 		<field name="ADCRouting" units="" type="enum" elementnames="adc0,adc1,adc2,adc3" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,Generic" defaultvalue="Disabled"/>
 		<field name="DSMxBind" units=""  type="uint8"  elements="1" defaultvalue="0"/>
+        <field name="WS2811LED_Out" units="" type="enum" elements="1" options="ServoOut1,ServoOut2,ServoOut3,ServoOut4,ServoOut5,ServoOut6,FlexiPin3,FlexiPin4,Disabled" defaultvalue="Disabled" />
 
 		<access gcs="readwrite" flight="readwrite"/>
 		<telemetrygcs acked="true" updatemode="onchange" period="0"/>