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Merge remote-tracking branch 'upstream/master' into next

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# Conflicts:
#	ground/gcs/src/plugins/coreplugin/connectionmanager.cpp
This commit is contained in:
Philippe Renon 2016-12-13 00:56:32 +01:00
commit 33188bd78e
224 changed files with 8438 additions and 8401 deletions
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9
CREDITS.txt
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@ -3,6 +3,7 @@ Sergiy Anikeyev
David Ankers
Fredrik Arvidsson
Pedro Assuncao
Rafael Bachmann
Werner Backes
Jose Barros
Alex Beck
@ -24,6 +25,7 @@ James Cotton
Kalyn Doerr
Steve Doll
James Duley
Heikko Ellermaa
Piotr Esden-Tempski
Steve Evans
Peter Farnworth
@ -43,6 +45,7 @@ Nuno Guedes
Peter Gunnarsson
Erik Gustavsson
Dean Hall
Harold Hankins
Joe Hlebasko
Andy Honecker
Patrick Huebner
@ -50,6 +53,7 @@ Ryan Hunt
Mark James
Paul Jewell
Michael Johnston
Mateusz Kaduk
Stefan Karlsson
Ricky King
Thorsten Klose
@ -68,6 +72,7 @@ Pablo Lema
Matt Lipski
David Llama
Jasper Van Loenen
Ákos Máté
Ben Matthews
Greg Matthews
Guy McCaldin
@ -79,6 +84,7 @@ Ken Northup
Craig Nuttall
Bertrand Oresve
Angus Peart
Pablo Francisco Pérez Hidalgo
John Pike
Jorge Pombo Marcos
Dmytro Poplavskiy
@ -116,9 +122,12 @@ Kevin Vertucio
Alex Vrubel
Mike Walters
Sam Wang
Tianhe Wang
Brian Webb
Justin Welander
Mat Wellington
Kendal Wells
David Willis
Dmitriy Zaitsev
Vladimir Zidar

1
Makefile
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@ -411,6 +411,7 @@ $(FW_DIST_TAR): $(PACKAGE_FW_TARGETS) | $(DIST_DIR)
$(V1) tar -c --file="$(FW_DIST_TAR)" --directory=$(FLIGHT_OUT_DIR) \
--owner=root --group=root --mtime="`git show -s --format=%ci`" \
--transform='s,^,firmware/,' \
--force-local \
$(foreach fw_targ,$(PACKAGE_FW_TARGETS),$(fw_targ)/$(fw_targ).opfw)
$(FW_DIST_TAR_GZ): $(FW_DIST_TAR)

226
WHATSNEW.txt
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@ -1,3 +1,229 @@
-- RELEASE-16.09 - Second LibrePilot Release -- Black Rhino
This is the second LibrePilot release.
This release introduces new features and new hardware support like Sparky2 board and improved external mag support.
New hardware support:
Sparky2 board, Auxiliary Magnetometer: I2C and Naza GPS, Revo FlexiIO port usage e.g. PPM+GPS
New input modes:
Jeti Ex.Bus, Graupner Hott, FlySky IBus, PPM up to 16 channels, Revo/Sparky2 as OpenLRS receiver.
New telemetry protocols:
MSP, MAVLink. OSD devices that use those protocols may now be connected directly (e.g.: minimosd with MWOSD).
New Flight oriented features:
AlwaysStabilizeWhenArmed (Airmode) using switch, Measurement based D term gives smoother flight
SuperExpo (you may need half expo value compared to rel15.09), Camera tilt compensation,
Autotune module (except CC3D).
GCS improvements:
PFD with terrain / OsgEarth improvements
Failsafe settings using GUI
Vehicle and Transmitter wizard improvements
Known issues:
* [LP-289] - pidcontrol ne and down have nan dz if kp is zero
The full list of bug fixes and enhancements in this release is available here:
https://librepilot.atlassian.net/issues/?filter=10500
Release Notes - LibrePilot - Version REL-16.09
** Sub-task
* [LP-120] - Add Ublox GPS + I2C Mag to Wizard
** Bug
* [LP-59] - Replace openpilot email address in packaging
* [LP-83] - Bricking of Revo and Sparky2
* [LP-111] - Fix directory hash calculated to only include tracked files
* [LP-119] - #if used instead of #ifdef in pios_msheap.c
* [LP-139] - Erroneous warning about missing pfd.svg
* [LP-143] - Fix the "firmware upload no responding" issue
* [LP-145] - CC3D GPS issue
* [LP-154] - Fix gitignore - bare config causes all config directories to be ignored.
* [LP-160] - Set default AccelTau value
* [LP-165] - Acro+ factor range in TxPID
* [LP-167] - Stable version checker points to bad url
* [LP-171] - Acro+ Link Roll and Pitch affects all banks
* [LP-175] - Fix src rpm name
* [LP-181] - QT5.5 : PFD parts are broken
* [LP-182] - CC3D/Revonano OPlink Telemetry issue @38400
* [LP-184] - make: incremental build issues
* [LP-185] - Debian dist detection broken
* [LP-191] - Make TxWizard more robust
* [LP-193] - Remove Libpng warnings
* [LP-197] - QT-5.5.1 broken translations
* [LP-198] - Cannot detect lost of PPM signal
* [LP-204] - Fast_invsqrtf() issue
* [LP-205] - Rate trainer wobble at max angle
* [LP-206] - AlwaysStabilizeWhenArmed need to be disabled at takeoff/landing
* [LP-209] - Oplm link_quality still good with link lost
* [LP-215] - OpLink controller Tx should force failsafe if PPM stream fails
* [LP-216] - GCS misbehaves on high DPI devices
* [LP-218] - msys2 provided opengl library breaks GCS
* [LP-221] - Increase Revo System stack size
* [LP-222] - Building osg and osgearth fails
* [LP-223] - Unit tests build is broken
* [LP-228] - CC3D reboot while import config file
* [LP-241] - Allow CruiseControl for Rate mode at least
* [LP-245] - GCS unsaved data prompt when nothing changed
* [LP-249] - Fix bug introduced in LP-235
* [LP-251] - UAVObjectGeneratorGCS::process_object uses incorrect param null check
* [LP-252] - GPSv9 drops packets
* [LP-257] - OSX compile issue introduced by a93f182
* [LP-258] - Update flight controller in real time locks to basic tab
* [LP-261] - Upgrade GCS map versions
* [LP-263] - GCS default config updates
* [LP-266] - pitch virtual board rotation in gui is limited to 90 degrees
* [LP-273] - Reset Mag alarm when going back to Basic complementary fusion algorithm
* [LP-274] - Consistent Attitude board rotation values for all boards
* [LP-275] - OSX build errors
* [LP-277] - OPMap compilation warning
* [LP-281] - PIOS_SENSORS_GetInstanceByType() has incorrect matching operator
* [LP-285] - Tx Wizard : Set Accessory neutral to middle range
* [LP-289] - pidcontrol ne and down have nan dz if kp is zero
* [LP-290] - Windows GCS uninstall is very long
* [LP-299] - gcc5 building isnan issue
* [LP-305] - GCS crashes shortly after start on OSX - when loading OPMap gadget
* [LP-309] - When arming with accessory switch, disarming timeout doesn't work.
* [LP-310] - osg: random GCS crashes when switching or closing PFDQml gadgets
* [LP-312] - GCS config - attitude - mag tab offers sparky2 i2c port on revo
* [LP-313] - using UAVObjectBrowser filter text always enables metadata display
* [LP-321] - MSP in ReceiverPort menu for RevoNano
* [LP-333] - Sparky2 I2CPort needs GPIO_PuPd_UP instead of NOPULL
* [LP-339] - Avoid AutoTakeOff flight mode while already armed
* [LP-341] - VCP doesn't work on Windows 10 or 8.1
* [LP-362] - GCS crashes when logging to file with -log command line argument
* [LP-363] - OPMap missing tiles
* [LP-369] - Fix availability condition for VCP
* [LP-382] - MSP stack overflow on PID save op.
* [LP-387] - Sparky2 analog port mapping
* [LP-388] - Wrong AuxMag calibration due to wrong initial settings
* [LP-391] - Some CC3D ports cause a boot issue and re-init to defaults.
* [LP-392] - Revo attitude settings is missing the "Zero gyro when arming" checkbox
* [LP-395] - Raise BoardSteadyMaxVariance to support some boards having higher gyro noise
* [LP-400] - Doxygen document build fails with latex errors
* [LP-401] - Reboot is required after AutoTune is set in FMS
* [LP-406] - Windows driver fails to install
* [LP-409] - make fw_dist fails on windows
* [LP-421] - GCS setup wizard welcome panel is too big on high dpi screens
* [LP-423] - HMC5x83 driver dereferences null pointer
* [LP-424] - pios_openlrs.c has incorrect reference to rfm22b_id
* [LP-429] - changes to FlightModeSettings do not trigger a configuration check
* [LP-444] - I2C alarm
* [LP-447] - ESC calibration failure with FVT LitteBee 20A
** Story
* [LP-32] - osgearth integration (follow up cleanups)
** New Feature
* [LP-29] - osgearth integration
* [LP-149] - Add STM32F427/429/437/439 chip support, preparation for brand new board.
* [LP-212] - Support DJI GPS and mag combo uses one port
* [LP-214] - Camera tilt compensation
* [LP-233] - OneShot42 / MultiShot support
* [LP-280] - After firmware boots, start calibration when vehicle is not moving
* [LP-286] - Port search field in UAVBrowser from TL
* [LP-291] - Port MSP support from dRonin
* [LP-298] - Create iBus support for RX
* [LP-327] - Wait for board to be steady before calibrating gyro
* [LP-364] - Port and improve MavLink support from dRonin
* [LP-425] - Add Credits to the About dialog
** Task
* [LP-2] - Upgrade to Qt 5.5
* [LP-30] - osg/osgearth/marble build scripts
* [LP-40] - Add support for TravisCI
* [LP-72] - Sparky 2 support
* [LP-73] - External Mags on I2C
* [LP-76] - Port Tau Labs Autotune to LP
* [LP-88] - Remove OpenPilot branding from .commit-template
* [LP-140] - Update Logo files in Artwork
* [LP-186] - Add copyright to qml and js files
* [LP-187] - Use Msys2
* [LP-194] - Hide Yaw Attitude related parameter from Stabilization panel
* [LP-195] - Update World Magnetic Model
* [LP-200] - Remove Opie
* [LP-201] - Update Y6 mixer
* [LP-208] - Upgrade to Qt 5.6
* [LP-230] - PFD refresh after recent additions
* [LP-247] - Add Naza GPS/Mag to Wizard
* [LP-267] - Enable more options in the current GUI for fusion algorithm
* [LP-292] - Oplink tab cleanup
* [LP-306] - Update Ubuntu PPA to build with osgearth
* [LP-307] - Set up Tea CI
* [LP-315] - Update vehicle templates
* [LP-317] - Update RPM packaging for osgearth
* [LP-325] - Reduce the threshold for ASWA switch
* [LP-328] - Sparky2 reboots constantly with only USB power and unpowered external mag
* [LP-330] - Fix copyright symbol in all code, make it consistent
* [LP-349] - shut up the plan warning alarm
* [LP-373] - Add bitbucket pipelines
* [LP-374] - Build x86_64 windows on TeaCI as well.
* [LP-394] - Upload build results from Tea-Ci
** Improvement
* [LP-96] - Review CPU idle time counter
* [LP-97] - Unify Init process between revo*-cc3d boards
* [LP-104] - HOTT SUMD support
* [LP-147] - Rc transmitter wizard : Auto detect flight mode number
* [LP-150] - Run Attitude calculation on CC/CC3D at slower rate than gyro samples
* [LP-151] - Settable OPLink (and FC) Device ID
* [LP-164] - change OSX dmg .webloc to point to LP website
* [LP-168] - Copy the same content and url list as www.librepilot.org in README.md
* [LP-174] - Add current value display to RcInput tab
* [LP-176] - Allow overriding of package type
* [LP-177] - Make debian package src use pre-compiled firmware
* [LP-178] - Add pass through feature for FixedWing
* [LP-179] - Highlight stabilization mode currently used
* [LP-183] - upgrade GCS uav object generator to Qt 5.5
* [LP-190] - Add openLRSng Rx support to OPLink/Revo
* [LP-196] - JETI EX Bus communication protocol support
* [LP-207] - EventDispatcher: Add "fast" callbacks
* [LP-219] - OPLink module should accept more than 8 PPM channels
* [LP-232] - Display flight mode alarm while setup
* [LP-235] - Make Failsafe settings more user friendly by allowing them to be set in the Configuration tab
* [LP-238] - Consolidate CPP firmware requirements within apps/boot-defs.mk
* [LP-239] - GPS on Flexi IO on Revo
* [LP-240] - Aux Mag setup help and GUI
* [LP-254] - Set CruiseControl default CruiseControlMaxThrust to 100
* [LP-256] - Sparky2 timers and output banks and PPM
* [LP-268] - Add TX and RX packet rates to OPLink stats.
* [LP-269] - IoT Stream Service
* [LP-272] - Altitude velocity Integral default value is set too high
* [LP-276] - Measurement based D term
* [LP-293] - Add AlarmString() to alarms library.
* [LP-295] - OP-1900 fix autotakeoff/landing to not break fixed wing
* [LP-302] - Change motor numbering on config - vehicle tab to directional like NW
* [LP-304] - Improvements for performance counters
* [LP-311] - GCS jumps back to Basic Stabilization if FC changes anything
* [LP-322] - USB Com Bridge functionality on OPLink
* [LP-324] - MSP on Sparky2
* [LP-326] - supporting 16 channels PPM
* [LP-335] - add support for address sanitizer in GCS build system
* [LP-338] - upgrade GCS to Qt 5.6.1
* [LP-340] - AutoTune fix some time measurement issues in original code
* [LP-342] - pios_exti to allow runtime (re)configuration
* [LP-343] - PIOS_COM_Available() needs to give out more details about RX and TX availability
* [LP-352] - Increase Expo effect for high rates
* [LP-354] - Add Ublox AssistNow Autonomous setting
* [LP-361] - Led notification improvements
* [LP-365] - Cleanup com port setup in pios_board.c for coptercontrol
* [LP-366] - Set default velocity and altitude in gcs for new waypoints
* [LP-377] - ComBridge Speed settings delete
* [LP-379] - Add receiverActivity to RC Input tab
* [LP-390] - Fix UAVO telemetry errors
* [LP-396] - Yaw AcroPlus controls in GUI
* [LP-410] - silence GCS logs
* [LP-411] - AutoTune Limit Outer PIDs on Powerful Multicopters - dRonin PR 1283
* [LP-417] - Heartbeat LED on OPLink
* [LP-428] - Reduce the threshold for arming switch
* [LP-441] - Template - Wizard dialog on small screens
-- RELEASE-15.09 - First LibrePilot Release -- Supermoon Eclipse
This is the first LibrePilot release.
The main focus of this release is to bring back support for CC3D and a general re-branding of the GCS.

5
flight/Project/Windows USB/OpenPilot-CDC.inf → flight/Project/WindowsUSB/OpenPilot-CDC.inf
View File

@ -3,7 +3,7 @@ Signature = "$Windows NT$"
Class = Ports
ClassGuid = {4D36E978-E325-11CE-BFC1-08002BE10318}
Provider = %ProviderName%
DriverVer=05/25/2016,4.0.0.0
DriverVer=11/21/2014,3.0.0.0
CatalogFile.NTx86 = OpenPilot-CDC_x86.cat
CatalogFile.NTamd64 = OpenPilot-CDC_amd64.cat
@ -15,14 +15,12 @@ CatalogFile.NTamd64 = OpenPilot-CDC_amd64.cat
%Revolution% = DriverInstall,USB\VID_20A0&PID_415e&MI_00
%OPLinkMini% = DriverInstall,USB\VID_20A0&PID_415c&MI_00
%OPLink1W% = DriverInstall,USB\VID_20A0&PID_4195&MI_00
%Sparky2% = DriverInstall,USB\VID_20A0&PID_41d0&MI_00
[DeviceList.NTamd64]
%CopterControl% = DriverInstall,USB\VID_20A0&PID_415b&MI_00
%Revolution% = DriverInstall,USB\VID_20A0&PID_415e&MI_00
%OPLinkMini% = DriverInstall,USB\VID_20A0&PID_415c&MI_00
%OPLink1W% = DriverInstall,USB\VID_20A0&PID_4195&MI_00
%Sparky2% = DriverInstall,USB\VID_20A0&PID_41d0&MI_00
[DriverInstall]
include = mdmcpq.inf
@ -43,4 +41,3 @@ CopterControl = "CopterControl Virtual COM Port"
Revolution = "Revolution Virtual COM Port"
OPLinkMini = "OPLinkMini Virtual COM Port"
OPLink1W = "OPLink1W Virtual COM Port"
Sparky2 = "Sparky2 Virtual COM Port"

0
flight/Project/Windows USB/openpilot-cdc_amd64.cat → flight/Project/WindowsUSB/openpilot-cdc_amd64.cat
View File

0
flight/Project/Windows USB/openpilot-cdc_x86.cat → flight/Project/WindowsUSB/openpilot-cdc_x86.cat
View File

94
flight/modules/AutoTune/autotune.c
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@ -146,6 +146,7 @@ static bool moduleEnabled;
// Private functions
static void AtNewGyroData(UAVObjEvent *ev);
static bool AutoTuneFoundInFMS();
static void AutoTuneTask(void *parameters);
static void AfInit(float X[AF_NUMX], float P[AF_NUMP]);
static void AfPredict(float X[AF_NUMX], float P[AF_NUMP], const float u_in[3], const float gyro[3], const float dT_s, const float t_in);
@ -153,6 +154,7 @@ static bool CheckFlightModeSwitchForPidRequest(uint8_t flightMode);
static uint8_t CheckSettings();
static uint8_t CheckSettingsRaw();
static void ComputeStabilizationAndSetPidsFromDampAndNoise(float damp, float noise);
static void FlightModeSettingsUpdatedCb(UAVObjEvent *ev);
static void InitSystemIdent(bool loadDefaults);
static void ProportionPidsSmoothToQuick();
static void UpdateSystemIdentState(const float *X, const float *noise, float dT_s, uint32_t predicts, uint32_t spills, float hover_throttle);
@ -165,10 +167,15 @@ static void UpdateStabilizationDesired(bool doingIdent);
*/
int32_t AutoTuneInitialize(void)
{
// Create a queue, connect to manual control command and flightstatus
#ifdef MODULE_AutoTune_BUILTIN
// do this here since module can become disabled for several reasons
// even for MODULE_AutoTune_BUILTIN
FlightModeSettingsInitialize();
#if defined(MODULE_AutoTune_BUILTIN)
moduleEnabled = true;
#else
// HwSettings is only used right here, so init here
HwSettingsInitialize();
HwSettingsOptionalModulesData optionalModules;
HwSettingsOptionalModulesGet(&optionalModules);
if (optionalModules.AutoTune == HWSETTINGS_OPTIONALMODULES_ENABLED) {
@ -178,29 +185,34 @@ int32_t AutoTuneInitialize(void)
// that allows PIDs to be adjusted in flight
moduleEnabled = true;
} else {
// if the user did not enable the autotune module
// if the user did not manually enable the autotune module
// do it for them if they have autotune on their flight mode switch
FlightModeSettingsFlightModePositionOptions fms[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
moduleEnabled = false;
FlightModeSettingsInitialize();
FlightModeSettingsFlightModePositionGet(fms);
for (uint8_t i = 0; i < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM; ++i) {
if (fms[i] == FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE) {
moduleEnabled = true;
break;
}
}
moduleEnabled = AutoTuneFoundInFMS();
}
#endif /* ifdef MODULE_AutoTune_BUILTIN */
#endif /* defined(MODULE_AutoTune_BUILTIN) */
if (moduleEnabled) {
AccessoryDesiredInitialize();
ActuatorDesiredInitialize();
FlightStatusInitialize();
GyroStateInitialize();
ManualControlCommandInitialize();
StabilizationBankInitialize();
StabilizationSettingsBank1Initialize();
StabilizationSettingsBank2Initialize();
StabilizationSettingsBank3Initialize();
SystemIdentSettingsInitialize();
SystemIdentStateInitialize();
atQueue = xQueueCreate(AT_QUEUE_NUMELEM, sizeof(struct at_queued_data));
if (!atQueue) {
moduleEnabled = false;
}
}
if (!moduleEnabled) {
// only need to watch for enabling AutoTune in FMS if AutoTune module is _not_ running
FlightModeSettingsConnectCallback(FlightModeSettingsUpdatedCb);
}
return 0;
}
@ -560,6 +572,26 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
}
// FlightModeSettings callback
// determine if autotune is enabled in the flight mode switch
static bool AutoTuneFoundInFMS()
{
bool found = false;
FlightModeSettingsFlightModePositionOptions fms[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
uint8_t num_flightMode;
FlightModeSettingsFlightModePositionGet(fms);
ManualControlSettingsFlightModeNumberGet(&num_flightMode);
for (uint8_t i = 0; i < num_flightMode; ++i) {
if (fms[i] == FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE) {
found = true;
break;
}
}
return found;
}
// gyro sensor callback
// get gyro data and actuatordesired into a packet
// and put it in the queue for later processing
@ -607,6 +639,16 @@ static void AtNewGyroData(UAVObjEvent *ev)
}
// this callback is only enabled if the AutoTune module is not running
// if it sees that AutoTune was added to the FMS it issues BOOT and ? alarms
static void FlightModeSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
if (AutoTuneFoundInFMS()) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
}
}
// check for the user quickly toggling the flight mode switch
// into and out of AutoTune, 3 times
// that is a signal that the user wants to try the next PID settings
@ -908,11 +950,29 @@ static void ComputeStabilizationAndSetPidsFromDampAndNoise(float dampRate, float
// inner loop as a single order lpf. Set the outer loop to be
// critically damped;
const float zeta_o = 1.3f;
const float kp_o = 1.0f / 4.0f / (zeta_o * zeta_o) / (1.0f / wn);
const float ki_o = 0.75f * kp_o / (2.0f * M_PI_F * tau * 10.0f);
float kp_o = 1.0f / 4.0f / (zeta_o * zeta_o) / (1.0f / wn);
// Except, if this is very high, we may be slew rate limited and pick
// up oscillation that way. Fix it with very soft clamping.
// (dRonin) MaximumRate defaults to 350, 6.5 corresponds to where we begin
// clamping rate ourselves. ESCs, etc, it depends upon gains
// and any pre-emphasis they do. Still give ourselves partial credit
// for inner loop bandwidth.
// In dRonin, MaximumRate defaults to 350 and they begin clamping at outer Kp 6.5
// To avoid oscillation, find the minimum rate, calculate the ratio of that to 350,
// and scale (linearly) with that. Skip yaw. There is no outer yaw in the GUI.
const uint16_t minRate = MIN(stabSettingsBank.MaximumRate.Roll, stabSettingsBank.MaximumRate.Pitch);
const float kp_o_clamp = systemIdentSettings.OuterLoopKpSoftClamp * ((float)minRate / 350.0f);
if (kp_o > kp_o_clamp) {
kp_o = kp_o_clamp - sqrtf(kp_o_clamp) + sqrtf(kp_o);
}
kp_o *= 0.95f; // Pick up some margin.
// Add a zero at 1/15th the innermost bandwidth.
const float ki_o = 0.75f * kp_o / (2.0f * M_PI_F * tau * 15.0f);
float kpMax = 0.0f;
float betaMinLn = 1000.0f;
float betaMinLn = 1000.0f;
StabilizationBankRollRatePIDData volatile *rollPitchPid = NULL; // satisfy compiler warning only
for (int i = 0; i < ((systemIdentSettings.CalculateYaw != SYSTEMIDENTSETTINGS_CALCULATEYAW_FALSE) ? 3 : 2); i++) {

2
flight/modules/ManualControl/armhandler.c
View File

@ -41,7 +41,7 @@
#endif
// Private constants
#define ARMED_THRESHOLD 0.50f
#define ARMED_THRESHOLD 0.20f
#define GROUND_LOW_THROTTLE 0.01f
// Private types

7
flight/modules/ManualControl/manualcontrol.c
View File

@ -129,14 +129,15 @@ static void SettingsUpdatedCb(UAVObjEvent *ev);
*/
int32_t ManualControlStart()
{
// Run this initially to make sure the configuration is checked
configuration_check();
// Whenever the configuration changes, make sure it is safe to fly
SystemSettingsConnectCallback(configurationUpdatedCb);
ManualControlSettingsConnectCallback(configurationUpdatedCb);
FlightModeSettingsConnectCallback(configurationUpdatedCb);
ManualControlCommandConnectCallback(commandUpdatedCb);
// Run this initially to make sure the configuration is checked
configuration_check();
// clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);

8
flight/modules/OPLink/oplinkmod.c
View File

@ -138,11 +138,6 @@ static void systemTask(__attribute__((unused)) void *parameters)
// Main system loop
while (1) {
// Flash the heartbeat LED
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
// Update the OPLinkStatus UAVO
OPLinkStatusData oplinkStatus;
OPLinkStatusGet(&oplinkStatus);
@ -192,10 +187,11 @@ static void systemTask(__attribute__((unused)) void *parameters)
oplinkStatus.LinkState = radio_stats.link_state;
}
// Turn on the link/heartbeat ID if we're connected, otherwise flash it.
if (radio_stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
LINK_LED_ON;
} else {
LINK_LED_OFF;
LINK_LED_TOGGLE;
}
// Update the object

66
flight/modules/System/systemmod.c
View File

@ -118,11 +118,17 @@ static void callbackSchedulerForEachCallback(int16_t callback_id, const struct p
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
#ifdef DIAG_I2C_WDG_STATS
static void updateI2Cstats();
#ifdef DIAG_I2C_WDG_STATS
static void updateWDGstats();
#endif
#ifdef PIOS_INCLUDE_I2C
#define I2C_ERROR_ACTIVITY_TIMEOUT_SECONDS 2
#define I2C_ERROR_ACTIVITY_TIMEOUT (I2C_ERROR_ACTIVITY_TIMEOUT_SECONDS * 1000 / SYSTEM_UPDATE_PERIOD_MS)
static uint8_t i2c_error_activity[PIOS_I2C_ERROR_COUNT_NUMELEM];
#endif
extern uintptr_t pios_uavo_settings_fs_id;
extern uintptr_t pios_user_fs_id;
@ -234,10 +240,13 @@ static void systemTask(__attribute__((unused)) void *parameters)
NotificationUpdateStatus();
// Update the system statistics
updateStats();
// Update I2C stats
updateI2Cstats();
// Update the system alarms
updateSystemAlarms();
#ifdef DIAG_I2C_WDG_STATS
updateI2Cstats();
updateWDGstats();
#endif
@ -480,17 +489,36 @@ static void callbackSchedulerForEachCallback(int16_t callback_id, const struct p
#endif /* ifdef DIAG_TASKS */
/**
* Called periodically to update the I2C statistics
* Called periodically (every SYSTEM_UPDATE_PERIOD_MS milliseconds) to update the I2C statistics
*/
#ifdef DIAG_I2C_WDG_STATS
static void updateI2Cstats()
{
#if defined(PIOS_INCLUDE_I2C)
static uint8_t previous_error_counts[PIOS_I2C_ERROR_COUNT_NUMELEM];
struct pios_i2c_fault_history history;
uint8_t error_counts[PIOS_I2C_ERROR_COUNT_NUMELEM];
PIOS_I2C_GetDiagnostics(&history, error_counts);
// every time a counter changes, set activity timeout counter to ( I2C_ERROR_ACTIVITY_TIMEOUT ).
// every time a counter does not change, decrease activity counter.
for (uint8_t i = 0; i < PIOS_I2C_ERROR_COUNT_NUMELEM; i++) {
if (error_counts[i] != previous_error_counts[i]) {
i2c_error_activity[i] = I2C_ERROR_ACTIVITY_TIMEOUT;
} else if (i2c_error_activity[i] > 0) {
i2c_error_activity[i]--;
}
previous_error_counts[i] = error_counts[i];
}
#ifdef DIAG_I2C_WDG_STATS
I2CStatsData i2cStats;
I2CStatsGet(&i2cStats);
struct pios_i2c_fault_history history;
PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors);
memcpy(&i2cStats.event_errors, &error_counts, sizeof(error_counts));
for (uint8_t i = 0; (i < I2C_LOG_DEPTH) && (i < I2CSTATS_EVENT_LOG_NUMELEM); i++) {
i2cStats.evirq_log[i] = history.evirq[i];
@ -500,9 +528,11 @@ static void updateI2Cstats()
}
i2cStats.last_error_type = history.type;
I2CStatsSet(&i2cStats);
#endif
#endif /* DIAG_I2C_WDG_STATS */
#endif /* PIOS_INCLUDE_I2C */
}
#ifdef DIAG_I2C_WDG_STATS
static void updateWDGstats()
{
WatchdogStatusData watchdogStatus;
@ -663,6 +693,28 @@ static void updateSystemAlarms()
sysStats.ObjectManagerQueueID = objStats.lastQueueErrorID;
SystemStatsSet(&sysStats);
}
#ifdef PIOS_INCLUDE_I2C
if (AlarmsGet(SYSTEMALARMS_ALARM_I2C) != SYSTEMALARMS_ALARM_UNINITIALISED) {
static const SystemAlarmsAlarmOptions i2c_alarm_by_error[] = {
[PIOS_I2C_BAD_EVENT_COUNTER] = SYSTEMALARMS_ALARM_ERROR,
[PIOS_I2C_FSM_FAULT_COUNT] = SYSTEMALARMS_ALARM_ERROR,
[PIOS_I2C_ERROR_INTERRUPT_COUNTER] = SYSTEMALARMS_ALARM_ERROR,
[PIOS_I2C_NACK_COUNTER] = SYSTEMALARMS_ALARM_CRITICAL,
[PIOS_I2C_TIMEOUT_COUNTER] = SYSTEMALARMS_ALARM_ERROR,
};
SystemAlarmsAlarmOptions i2c_alarm = SYSTEMALARMS_ALARM_OK;
for (uint8_t i = 0; i < PIOS_I2C_ERROR_COUNT_NUMELEM; i++) {
if ((i2c_error_activity[i] > 0) && (i2c_alarm < i2c_alarm_by_error[i])) {
i2c_alarm = i2c_alarm_by_error[i];
}
}
AlarmsSet(SYSTEMALARMS_ALARM_I2C, i2c_alarm);
}
#endif /* PIOS_INCLUDE_I2C */
}
/**

2
flight/pios/common/pios_com.c
View File

@ -112,7 +112,7 @@ static void PIOS_COM_UnblockTx(struct pios_com_dev *com_dev, bool *need_yield);
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, size_t rx_buffer_len, uint8_t *tx_buffer, size_t tx_buffer_len)
int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, uint16_t rx_buffer_len, uint8_t *tx_buffer, uint16_t tx_buffer_len)
{
PIOS_Assert(com_id);
PIOS_Assert(driver);

3
flight/pios/common/pios_hmc5x83.c
View File

@ -539,6 +539,9 @@ int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler)
*/
bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler)
{
if (!handler) { // handler is not set on first call
return false;
}
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
dev->data_ready = true;

6
flight/pios/common/pios_openlrs.c
View File

@ -1130,9 +1130,9 @@ static void pios_openlrs_task(void *parameters);
static struct pios_openlrs_dev *g_openlrs_dev;
/**
* Initialise an RFM22B device
* Initialise an OPENLRS device
*
* @param[out] rfm22b_id A pointer to store the device ID in.
* @param[out] openlrs_id A pointer to store the device ID in.
* @param[in] spi_id The SPI bus index.
* @param[in] slave_num The SPI bus slave number.
* @param[in] cfg The device configuration.
@ -1141,7 +1141,7 @@ int32_t PIOS_OpenLRS_Init(uint32_t *openlrs_id, uint32_t spi_id,
uint32_t slave_num,
const struct pios_openlrs_cfg *cfg)
{
PIOS_DEBUG_Assert(rfm22b_id);
PIOS_DEBUG_Assert(openlrs_id);
PIOS_DEBUG_Assert(cfg);
// Allocate the device structure.

2
flight/pios/inc/pios_com.h
View File

@ -59,7 +59,7 @@ struct pios_com_driver {
#define COM_CTRL_LINE_RTS_MASK 0x02
/* Public Functions */
extern int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, size_t rx_buffer_len, uint8_t *tx_buffer, size_t tx_buffer_len);
extern int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, uint16_t rx_buffer_len, uint8_t *tx_buffer, uint16_t tx_buffer_len);
extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
extern int32_t PIOS_COM_SetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state);
extern int32_t PIOS_COM_RegisterCtrlLineCallback(uint32_t usart_id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);

10
flight/pios/inc/pios_i2c.h
View File

@ -63,6 +63,16 @@ struct pios_i2c_fault_history {
uint8_t state[I2C_LOG_DEPTH];
};
enum pios_i2c_error_count {
PIOS_I2C_BAD_EVENT_COUNTER,
PIOS_I2C_FSM_FAULT_COUNT,
PIOS_I2C_ERROR_INTERRUPT_COUNTER,
PIOS_I2C_NACK_COUNTER,
PIOS_I2C_TIMEOUT_COUNTER,
PIOS_I2C_ERROR_COUNT_NUMELEM,
};
/* Public Functions */
extern int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[], uint32_t num_txns);
extern int32_t PIOS_I2C_Transfer_Callback(uint32_t i2c_id, const struct pios_i2c_txn txn_list[], uint32_t num_txns, void *callback);

2
flight/pios/posix/pios_com.c
View File

@ -118,7 +118,7 @@ static void PIOS_COM_UnblockTx(struct pios_com_dev *com_dev, bool *need_yield);
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, size_t rx_buffer_len, uint8_t *tx_buffer, size_t tx_buffer_len)
int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, uint16_t rx_buffer_len, uint8_t *tx_buffer, uint16_t tx_buffer_len)
{
PIOS_Assert(com_id);
PIOS_Assert(driver);

14
flight/pios/stm32f0x/pios_i2c.c
View File

@ -458,17 +458,17 @@ void PIOS_I2C_GetDiagnostics(struct pios_i2c_fault_history *data, uint8_t *count
{
#if defined(PIOS_I2C_DIAGNOSTICS)
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = i2c_bad_event_counter;
counts[1] = i2c_fsm_fault_count;
counts[2] = i2c_error_interrupt_counter;
counts[3] = i2c_nack_counter;
counts[4] = i2c_timeout_counter;
counts[PIOS_I2C_BAD_EVENT_COUNTER] = i2c_bad_event_counter;
counts[PIOS_I2C_FSM_FAULT_COUNT] = i2c_fsm_fault_count;
counts[PIOS_I2C_ERROR_INTERRUPT_COUNTER] = i2c_error_interrupt_counter;
counts[PIOS_I2C_NACK_COUNTER] = i2c_nack_counter;
counts[PIOS_I2C_TIMEOUT_COUNTER] = i2c_timeout_counter;
#else
struct pios_i2c_fault_history i2c_adapter_fault_history;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = counts[1] = counts[2] = 0;
memset(counts, 0, sizeof(*counts) * PIOS_I2C_ERROR_COUNT_NUMELEM);
#endif
}

14
flight/pios/stm32f10x/pios_i2c.c
View File

@ -857,17 +857,17 @@ void PIOS_I2C_GetDiagnostics(struct pios_i2c_fault_history *data, uint8_t *count
{
#if defined(PIOS_I2C_DIAGNOSTICS)
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = i2c_bad_event_counter;
counts[1] = i2c_fsm_fault_count;
counts[2] = i2c_error_interrupt_counter;
counts[3] = i2c_nack_counter;
counts[4] = i2c_timeout_counter;
counts[PIOS_I2C_BAD_EVENT_COUNTER] = i2c_bad_event_counter;
counts[PIOS_I2C_FSM_FAULT_COUNT] = i2c_fsm_fault_count;
counts[PIOS_I2C_ERROR_INTERRUPT_COUNTER] = i2c_error_interrupt_counter;
counts[PIOS_I2C_NACK_COUNTER] = i2c_nack_counter;
counts[PIOS_I2C_TIMEOUT_COUNTER] = i2c_timeout_counter;
#else
struct pios_i2c_fault_history i2c_adapter_fault_history;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = counts[1] = counts[2] = 0;
memset(counts, 0, sizeof(*counts) * PIOS_I2C_ERROR_COUNT_NUMELEM);
#endif
}

14
flight/pios/stm32f4xx/pios_i2c.c
View File

@ -952,17 +952,17 @@ void PIOS_I2C_GetDiagnostics(struct pios_i2c_fault_history *data, uint8_t *count
{
#if defined(PIOS_I2C_DIAGNOSTICS)
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = i2c_bad_event_counter;
counts[1] = i2c_fsm_fault_count;
counts[2] = i2c_error_interrupt_counter;
counts[3] = i2c_nack_counter;
counts[4] = i2c_timeout_counter;
counts[PIOS_I2C_BAD_EVENT_COUNTER] = i2c_bad_event_counter;
counts[PIOS_I2C_FSM_FAULT_COUNT] = i2c_fsm_fault_count;
counts[PIOS_I2C_ERROR_INTERRUPT_COUNTER] = i2c_error_interrupt_counter;
counts[PIOS_I2C_NACK_COUNTER] = i2c_nack_counter;
counts[PIOS_I2C_TIMEOUT_COUNTER] = i2c_timeout_counter;
#else
struct pios_i2c_fault_history i2c_adapter_fault_history;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = counts[1] = counts[2] = 0;
memset(counts, 0, sizeof(*counts) * PIOS_I2C_ERROR_COUNT_NUMELEM);
#endif
}

8
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -101,11 +101,11 @@ uintptr_t pios_user_fs_id = 0;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes.
* tx size <= 0 make the port rx only
* rx size <= 0 make the port tx only
* having both tx and rx size <= 0 is not valid and will fail further down in PIOS_COM_Init()
* tx size = 0 make the port rx only
* rx size = 0 make the port tx only
* having both tx and rx size = 0 is not valid and will fail further down in PIOS_COM_Init()
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, uint16_t rx_buf_len, uint16_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;

4
flight/targets/boards/discoveryf4bare/board_hw_defs.c
View File

@ -1143,7 +1143,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.sda = {
@ -1153,7 +1153,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.event = {

8
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -279,11 +279,11 @@ uintptr_t pios_user_fs_id;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes.
* tx size <= 0 make the port rx only
* rx size <= 0 make the port tx only
* having both tx and rx size <= 0 is not valid and will fail further down in PIOS_COM_Init()
* tx size = 0 make the port rx only
* rx size = 0 make the port tx only
* having both tx and rx size = 0 is not valid and will fail further down in PIOS_COM_Init()
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, uint16_t rx_buf_len, uint16_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;

8
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -86,11 +86,11 @@ uint8_t servo_count = 0;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes.
* tx size of -1 make the port rx only
* rx size of -1 make the port tx only
* having both tx and rx size of -1 is not valid and will fail further down in PIOS_COM_Init()
* tx size of 0 make the port rx only
* rx size of 0 make the port tx only
* having both tx and rx size of 0 is not valid and will fail further down in PIOS_COM_Init()
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, uint16_t rx_buf_len, uint16_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;

4
flight/targets/boards/osd/board_hw_defs.c
View File

@ -407,7 +407,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.sda = {
@ -417,7 +417,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.event = {

4
flight/targets/boards/revolution/board_hw_defs.c
View File

@ -1524,7 +1524,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.sda = {
@ -1534,7 +1534,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.event = {

8
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -286,11 +286,11 @@ uintptr_t pios_user_fs_id;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes.
* tx size <= 0 make the port rx only
* rx size <= 0 make the port tx only
* having both tx and rx size <= 0 is not valid and will fail further down in PIOS_COM_Init()
* tx size = 0 make the port rx only
* rx size = 0 make the port tx only
* having both tx and rx size = 0 is not valid and will fail further down in PIOS_COM_Init()
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, uint16_t rx_buf_len, uint16_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;

4
flight/targets/boards/revonano/board_hw_defs.c
View File

@ -929,7 +929,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.sda = {
@ -939,7 +939,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.event = {

8
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -233,11 +233,11 @@ uintptr_t pios_user_fs_id;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes.
* tx size <= 0 make the port rx only
* rx size <= 0 make the port tx only
* having both tx and rx size <= 0 is not valid and will fail further down in PIOS_COM_Init()
* tx size = 0 make the port rx only
* rx size = 0 make the port tx only
* having both tx and rx size = 0 is not valid and will fail further down in PIOS_COM_Init()
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, uint16_t rx_buf_len, uint16_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;

4
flight/targets/boards/revoproto/board_hw_defs.c
View File

@ -1288,7 +1288,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.sda = {
@ -1298,7 +1298,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.event = {

4
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -348,9 +348,9 @@ uintptr_t pios_user_fs_id;
uint32_t pios_com_vcp_id = 0;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes. tx size <= 0 make the port rx only
* Setup a com port based on the passed cfg, driver and buffer sizes. tx size = 0 make the port rx only
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, uint16_t rx_buf_len, uint16_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;

6
flight/targets/boards/simposix/firmware/pios_board.c
View File

@ -79,9 +79,9 @@ uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes. tx size <= 0 make the port rx only
* Setup a com port based on the passed cfg, driver and buffer sizes. tx size = 0 make the port rx only
*/
static void PIOS_Board_configure_com(const struct pios_udp_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
static void PIOS_Board_configure_com(const struct pios_udp_cfg *usart_port_cfg, uint16_t rx_buf_len, uint16_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;
@ -180,7 +180,7 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RV_GPSPORT_GPS:
PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_udp_com_driver, &pios_com_gps_id);
PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, 0, &pios_udp_com_driver, &pios_com_gps_id);
break;
case HWSETTINGS_RV_GPSPORT_COMAUX:

8
flight/targets/boards/sparky2/board_hw_defs.c
View File

@ -1322,7 +1322,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.sda = {
@ -1332,7 +1332,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.event = {
@ -1394,7 +1394,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.sda = {
@ -1404,7 +1404,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_PuPd = GPIO_PuPd_UP,
},
},
.event = {

8
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -238,11 +238,11 @@ uintptr_t pios_user_fs_id;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes.
* tx size <= 0 make the port rx only
* rx size <= 0 make the port tx only
* having both tx and rx size <= 0 is not valid and will fail further down in PIOS_COM_Init()
* tx size = 0 make the port rx only
* rx size = 0 make the port tx only
* having both tx and rx size = 0 is not valid and will fail further down in PIOS_COM_Init()
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, uint16_t rx_buf_len, uint16_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;

2
ground/gcs/src/app/gcssplashscreen.cpp
View File

@ -45,7 +45,7 @@ GCSSplashScreen::GCSSplashScreen() :
m_painter->setFont(font);
m_painter->drawText(405, 170, QString(CopyrightSymbol) +
QString(" ") + VersionInfo::year() +
QString(" 2015-") + VersionInfo::year() +
QString(tr(" The %1 Project - All Rights Reserved").arg(ORG_BIG_NAME)));
m_painter->drawText(405, 182, QString(CopyrightSymbol) +

20
ground/gcs/src/libs/osgearth/osgQtQuick/OSGCamera.cpp
View File

@ -97,7 +97,7 @@ public:
void updateClearColor()
{
if (!camera.valid()) {
qDebug() << "OSGCamera::updateClearColor - invalid camera";
qWarning() << "OSGCamera::updateClearColor - invalid camera";
return;
}
// qDebug() << "OSGCamera::updateClearColor" << clearColor;
@ -107,11 +107,11 @@ public:
void updateFieldOfView()
{
if (!camera.valid()) {
qDebug() << "OSGCamera::updateFieldOfView - invalid camera";
qWarning() << "OSGCamera::updateFieldOfView - invalid camera";
return;
}
qDebug() << "OSGCamera::updateFieldOfView" << fieldOfView;
// qDebug() << "OSGCamera::updateFieldOfView" << fieldOfView;
double fovy, ar, zn, zf;
camera->getProjectionMatrixAsPerspective(fovy, ar, zn, zf);
@ -122,18 +122,18 @@ public:
void updateAspectRatio()
{
if (!camera.valid()) {
qDebug() << "OSGCamera::updateAspectRatio - invalid camera";
qWarning() << "OSGCamera::updateAspectRatio - invalid camera";
return;
}
osg::Viewport *viewport = camera->getViewport();
if (!viewport) {
qDebug() << "OSGCamera::updateAspectRatio - no viewport" << viewport;
qWarning() << "OSGCamera::updateAspectRatio - no viewport" << viewport;
return;
}
double aspectRatio = static_cast<double>(viewport->width()) / static_cast<double>(viewport->height());
qDebug() << "OSGCamera::updateAspectRatio" << aspectRatio;
// qDebug() << "OSGCamera::updateAspectRatio" << aspectRatio;
double fovy, ar, zn, zf;
camera->getProjectionMatrixAsPerspective(fovy, ar, zn, zf);
@ -152,12 +152,12 @@ public:
#ifdef USE_OSGEARTH
// install log depth buffer if requested
if (logDepthBufferEnabled && !logDepthBuffer) {
qDebug() << "OSGCamera::updateLogDepthBuffer - installing logarithmic depth buffer";
// qDebug() << "OSGCamera::updateLogDepthBuffer - installing logarithmic depth buffer";
logDepthBuffer = new osgEarth::Util::LogarithmicDepthBuffer();
logDepthBuffer->setUseFragDepth(true);
logDepthBuffer->install(camera);
} else if (!logDepthBufferEnabled && logDepthBuffer) {
qDebug() << "OSGCamera::updateLogDepthBuffer - uninstalling logarithmic depth buffer";
// qDebug() << "OSGCamera::updateLogDepthBuffer - uninstalling logarithmic depth buffer";
logDepthBuffer->uninstall(camera);
delete logDepthBuffer;
logDepthBuffer = NULL;
@ -168,11 +168,11 @@ public:
void setGraphicsContext(osg::GraphicsContext *gc)
{
if (!camera.valid()) {
qDebug() << "OSGCamera::setGraphicsContext - invalid camera";
qWarning() << "OSGCamera::setGraphicsContext - invalid camera";
return;
}
qDebug() << "OSGCamera::setGraphicsContext" << gc;
// qDebug() << "OSGCamera::setGraphicsContext" << gc;
camera->setGraphicsContext(gc);
camera->setViewport(0, 0, gc->getTraits()->width, gc->getTraits()->height);

2
ground/gcs/src/libs/osgearth/osgQtQuick/OSGFileNode.cpp
View File

@ -90,7 +90,7 @@ public:
void updateSource()
{
qDebug() << "OSGFileNode::updateNode" << source;
// qDebug() << "OSGFileNode::updateNode" << source;
if (!source.isValid()) {
self->setNode(NULL);
if (!source.isEmpty()) {

6
ground/gcs/src/libs/osgearth/osgQtQuick/OSGGeoTransformNode.cpp
View File

@ -72,7 +72,7 @@ public:
bool acceptSceneNode(OSGNode *node)
{
qDebug() << "OSGGeoTransformNode::acceptSceneNode" << node;
// qDebug() << "OSGGeoTransformNode::acceptSceneNode" << node;
if (sceneNode == node) {
return false;
}
@ -92,7 +92,7 @@ public:
void updateSceneNode()
{
qDebug() << "OSGGeoTransformNode::updateSceneNode" << sceneNode;
// qDebug() << "OSGGeoTransformNode::updateSceneNode" << sceneNode;
if (sceneNode && sceneNode->node()) {
osgEarth::MapNode *mapNode = osgEarth::MapNode::findMapNode(sceneNode->node());
if (mapNode) {
@ -148,7 +148,7 @@ public:
private slots:
void onSceneNodeChanged(osg::Node *node)
{
qDebug() << "OSGGeoTransformNode::onSceneNodeChanged" << node;
// qDebug() << "OSGGeoTransformNode::onSceneNodeChanged" << node;
updateSceneNode();
updatePosition();
}

3
ground/gcs/src/libs/osgearth/osgQtQuick/OSGGroup.cpp
View File

@ -88,9 +88,10 @@ public:
void updateChildren()
{
qDebug() << "OSGGroup::updateChildren";
// qDebug() << "OSGGroup::updateChildren";
osg::Group *group = static_cast<osg::Group *>(self->node());
if (!group) {
qWarning() << "OSGGroup::updateChildren - null group";
return;

10
ground/gcs/src/libs/osgearth/osgQtQuick/OSGSkyNode.cpp
View File

@ -70,7 +70,7 @@ public:
bool acceptSceneNode(OSGNode *node)
{
qDebug() << "OSGSkyNode::acceptSceneNode" << node;
// qDebug() << "OSGSkyNode::acceptSceneNode" << node;
if (sceneNode == node) {
return false;
}
@ -95,7 +95,7 @@ public:
self->setNode(NULL);
return;
}
qDebug() << "OSGSkyNode::updateScene - scene node" << sceneNode->node();
// qDebug() << "OSGSkyNode::updateScene - scene node" << sceneNode->node();
osgEarth::MapNode *mapNode = osgEarth::MapNode::findMapNode(sceneNode->node());
if (!mapNode) {
qWarning() << "OSGSkyNode::updateScene - scene node does not contain a map node";
@ -151,12 +151,12 @@ public:
void updateViewport()
{
qDebug() << "OSGSkyNode::updateViewport" << skyNode;
// qDebug() << "OSGSkyNode::updateViewport" << skyNode;
if (!skyNode.valid()) {
qWarning() << "OSGSkyNode::updateViewport - invalid sky node" << skyNode;
return;
}
qDebug() << "OSGSkyNode::updateViewport - attaching to" << viewport->asView();
// qDebug() << "OSGSkyNode::updateViewport - attaching to" << viewport->asView();
skyNode->attach(viewport->asView());
}
@ -216,7 +216,7 @@ public:
private slots:
void onSceneNodeChanged(osg::Node *node)
{
qDebug() << "OSGSkyNode::onSceneNodeChanged" << node;
// qDebug() << "OSGSkyNode::onSceneNodeChanged" << node;
updateScene();
}
};

8
ground/gcs/src/libs/osgearth/osgQtQuick/OSGViewport.cpp
View File

@ -271,7 +271,7 @@ private slots:
public:
bool acceptSceneNode(OSGNode *node)
{
qDebug() << "OSGViewport::acceptSceneNode" << node;
// qDebug() << "OSGViewport::acceptSceneNode" << node;
if (sceneNode == node) {
return true;
}
@ -291,7 +291,7 @@ public:
bool acceptCameraNode(OSGCamera *node)
{
qDebug() << "OSGViewport::acceptCameraNode" << node;
// qDebug() << "OSGViewport::acceptCameraNode" << node;
if (cameraNode == node) {
return true;
}
@ -311,7 +311,7 @@ public:
bool acceptManipulator(OSGCameraManipulator *m)
{
qDebug() << "OSGViewport::acceptManipulator" << manipulator;
// qDebug() << "OSGViewport::acceptManipulator" << manipulator;
if (manipulator == m) {
return true;
}
@ -370,7 +370,7 @@ private:
void onAboutToBeDestroyed()
{
qDebug() << "OSGViewport::Hidden::onAboutToBeDestroyed";
// qDebug() << "OSGViewport::Hidden::onAboutToBeDestroyed";
osgQtQuick::openGLContextInfo(QOpenGLContext::currentContext(), "OSGViewport::Hidden::onAboutToBeDestroyed");
// context is not current and don't know how to make it current...
}

8
ground/gcs/src/libs/osgearth/osgQtQuick/ga/OSGCameraManipulator.cpp
View File

@ -69,7 +69,7 @@ public:
bool acceptSceneNode(OSGNode *node)
{
qDebug() << "OSGCameraManipulator::acceptSceneNode" << node;
// qDebug() << "OSGCameraManipulator::acceptSceneNode" << node;
if (sceneNode == node) {
return true;
}
@ -93,14 +93,14 @@ public:
qWarning() << "OSGCameraManipulator::updateSceneNode - no scene node";
return;
}
qDebug() << "OSGCameraManipulator::updateSceneNode" << sceneNode;
// qDebug() << "OSGCameraManipulator::updateSceneNode" << sceneNode;
manipulator->setNode(sceneNode->node());
}
private slots:
void onSceneNodeChanged(osg::Node *node)
{
qDebug() << "OSGCameraManipulator::onSceneNodeChanged" << node;
// qDebug() << "OSGCameraManipulator::onSceneNodeChanged" << node;
updateSceneNode();
}
};
@ -150,7 +150,7 @@ void OSGCameraManipulator::classBegin()
void OSGCameraManipulator::componentComplete()
{
qDebug() << "OSGCameraManipulator::componentComplete" << this;
// qDebug() << "OSGCameraManipulator::componentComplete" << this;
update();
clearDirty();
}

6
ground/gcs/src/libs/osgearth/osgQtQuick/ga/OSGNodeTrackerManipulator.cpp
View File

@ -65,7 +65,7 @@ public:
bool acceptTrackNode(OSGNode *node)
{
qDebug() << "OSGNodeTrackerManipulator::acceptTrackNode" << node;
// qDebug() << "OSGNodeTrackerManipulator::acceptTrackNode" << node;
if (trackNode == node) {
return false;
}
@ -89,7 +89,7 @@ public:
qWarning() << "OSGNodeTrackerManipulator::updateTrackNode - no track node";
return;
}
qDebug() << "OSGNodeTrackerManipulator::updateTrackNode" << trackNode->node();
// qDebug() << "OSGNodeTrackerManipulator::updateTrackNode" << trackNode->node();
manipulator->setTrackNode(trackNode->node());
}
@ -117,7 +117,7 @@ public:
private slots:
void onTrackNodeChanged(osg::Node *node)
{
qDebug() << "OSGNodeTrackerManipulator::onTrackNodeChanged" << node;
// qDebug() << "OSGNodeTrackerManipulator::onTrackNodeChanged" << node;
qWarning() << "OSGNodeTrackerManipulator::onTrackNodeChanged - needs to be implemented";
}
};

2
ground/gcs/src/plugins/antennatrack/antennatrackgadget.cpp
View File

@ -89,7 +89,7 @@ void AntennaTrackGadget::loadConfiguration(IUAVGadgetConfiguration *config)
}
}
m_widget->dataStreamGroupBox->setHidden(false);
qDebug() << "Using Telemetry parser";
parser = new TelemetryParser();
connect(parser, SIGNAL(position(double, double, double)), m_widget, SLOT(setPosition(double, double, double)));

21
ground/gcs/src/plugins/config/airframe.ui
View File

@ -218,7 +218,7 @@
</spacer>
</item>
<item>
<widget class="QPushButton" name="airframeHelp">
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -250,26 +250,35 @@
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:help</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveAircraftToRAM">
<widget class="QPushButton" name="applyButton">
<property name="toolTip">
<string>Send to board, but don't save permanently (flash or SD).</string>
</property>
<property name="text">
<string>Apply</string>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveAircraftToSD">
<widget class="QPushButton" name="saveButton">
<property name="toolTip">
<string>Applies and Saves all settings to flash or SD depending on board.</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:save</string>
</property>
</widget>
</item>
</layout>
@ -287,9 +296,9 @@
<tabstops>
<tabstop>nameEdit</tabstop>
<tabstop>vehicleSetupWizardButton</tabstop>
<tabstop>airframeHelp</tabstop>
<tabstop>saveAircraftToRAM</tabstop>
<tabstop>saveAircraftToSD</tabstop>
<tabstop>helpButton</tabstop>
<tabstop>applyButton</tabstop>
<tabstop>saveButton</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>

138
ground/gcs/src/plugins/config/autotune.ui
View File

@ -23,7 +23,16 @@
<property name="spacing">
<number>6</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
@ -36,11 +45,38 @@
<string>Pre-Autotune</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_5">
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item row="3" column="0" colspan="3">
<widget class="QTextEdit" name="textEdit">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<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::StyledPanel</enum>
</property>
@ -51,9 +87,9 @@
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;&quot;&gt;WARNING:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be &lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:600;&quot;&gt;very very wary&lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt; for it creating bad tuning values.  Basically there is no reason to think this will work at all.&lt;br /&gt;&lt;br /&gt;To use autotuning, here are the steps:&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
@ -99,7 +135,16 @@ p, li { white-space: pre-wrap; }
<string>Autotune Setup</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -182,8 +227,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>709</width>
<height>605</height>
<width>526</width>
<height>510</height>
</rect>
</property>
<property name="sizePolicy">
@ -199,7 +244,16 @@ p, li { white-space: pre-wrap; }
<property name="spacing">
<number>12</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
@ -231,7 +285,7 @@ p, li { white-space: pre-wrap; }
<enum>Qt::Horizontal</enum>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:RelayTuningSettings</string>
<string>fieldname:RateGain</string>
<string>scale:0.01</string>
@ -249,7 +303,7 @@ p, li { white-space: pre-wrap; }
<enum>Qt::Horizontal</enum>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:RelayTuningSettings</string>
<string>fieldname:AttitudeGain</string>
<string>scale:0.01</string>
@ -283,7 +337,7 @@ p, li { white-space: pre-wrap; }
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:RelayTuning</string>
<string>fieldname:Period</string>
<string>element:Roll</string>
@ -300,7 +354,7 @@ p, li { white-space: pre-wrap; }
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:RelayTuning</string>
<string>fieldname:Gain</string>
<string>element:Roll</string>
@ -338,7 +392,7 @@ p, li { white-space: pre-wrap; }
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:RelayTuning</string>
<string>fieldname:Period</string>
<string>element:Pitch</string>
@ -355,7 +409,7 @@ p, li { white-space: pre-wrap; }
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:RelayTuning</string>
<string>fieldname:Gain</string>
<string>element:Pitch</string>
@ -507,7 +561,7 @@ p, li { white-space: pre-wrap; }
<enum>Qt::Horizontal</enum>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:RelayTuningSettings</string>
<string>fieldname:Amplitude</string>
<string>scale:0.01</string>
@ -601,7 +655,45 @@ will alter settings for the next autotuning flight</string>
</spacer>
</item>
<item>
<widget class="QPushButton" name="stabilizationReloadBoardData_6">
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:help</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="reloadButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -619,7 +711,7 @@ Useful if you have accidentally changed some settings.</string>
<string>Reload Board Data</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>button:reload</string>
<string>buttongroup:10</string>
</stringlist>
@ -627,7 +719,7 @@ Useful if you have accidentally changed some settings.</string>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveStabilizationToRAM_6">
<widget class="QPushButton" name="applyButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -644,14 +736,14 @@ Useful if you have accidentally changed some settings.</string>
<string>Apply</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>button:apply</string>
</stringlist>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveStabilizationToSD_6">
<widget class="QPushButton" name="saveButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -668,7 +760,7 @@ Useful if you have accidentally changed some settings.</string>
<string>Save</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>button:save</string>
</stringlist>
</property>
@ -678,6 +770,8 @@ Useful if you have accidentally changed some settings.</string>
</item>
</layout>
</widget>
<resources/>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

90
ground/gcs/src/plugins/config/camerastabilization.ui
View File

@ -72,7 +72,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-103</y>
<y>0</y>
<width>748</width>
<height>811</height>
</rect>
@ -143,7 +143,7 @@ have to define channel output range using Output configuration tab.</string>
<number>20</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:OutputRange</string>
<string>element:Yaw</string>
@ -172,7 +172,7 @@ have to define channel output range using Output configuration tab.</string>
<number>20</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:OutputRange</string>
<string>element:Pitch</string>
@ -201,7 +201,7 @@ have to define channel output range using Output configuration tab.</string>
<number>20</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:OutputRange</string>
<string>element:Roll</string>
@ -429,7 +429,7 @@ font:bold;</string>
Don't forget to map this channel using Input configuration tab.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:Input</string>
<string>element:Yaw</string>
@ -454,7 +454,7 @@ Don't forget to map this channel using Input configuration tab.</string>
Don't forget to map this channel using Input configuration tab.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:Input</string>
<string>element:Pitch</string>
@ -479,7 +479,7 @@ Don't forget to map this channel using Input configuration tab.</string>
Don't forget to map this channel using Input configuration tab.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:Input</string>
<string>element:Roll</string>
@ -512,7 +512,7 @@ Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:StabilizationMode</string>
<string>element:Yaw</string>
@ -541,7 +541,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
<number>20</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:InputRange</string>
<string>element:Yaw</string>
@ -567,7 +567,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
<number>50</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:InputRate</string>
<string>element:Yaw</string>
@ -590,7 +590,7 @@ Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:StabilizationMode</string>
<string>element:Pitch</string>
@ -619,7 +619,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
<number>20</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:InputRange</string>
<string>element:Pitch</string>
@ -645,7 +645,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
<number>50</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:InputRate</string>
<string>element:Pitch</string>
@ -668,7 +668,7 @@ Attitude: camera tracks level for the axis. Input controls the deflection.
AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:StabilizationMode</string>
<string>element:Roll</string>
@ -697,7 +697,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
<number>20</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:InputRange</string>
<string>element:Roll</string>
@ -723,7 +723,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
<number>50</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:InputRate</string>
<string>element:Roll</string>
@ -794,7 +794,7 @@ value.</string>
<double>1.000000000000000</double>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:MaxAxisLockRate</string>
<string>haslimits:no</string>
@ -902,7 +902,7 @@ Smoothes estimated airframe attitude used by camera stabilization.</string>
<number>250</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Roll</string>
@ -924,7 +924,7 @@ Smoothes estimated airframe attitude used by camera stabilization.</string>
<number>250</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Pitch</string>
@ -946,7 +946,7 @@ Smoothes estimated airframe attitude used by camera stabilization.</string>
<number>250</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Yaw</string>
@ -976,7 +976,7 @@ Too high value may burn your servo!</string>
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:FeedForward</string>
<string>element:Roll</string>
@ -1001,7 +1001,7 @@ Too high value may burn your servo!</string>
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:FeedForward</string>
<string>element:Pitch</string>
@ -1026,7 +1026,7 @@ Too high value may burn your servo!</string>
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:FeedForward</string>
<string>element:Yaw</string>
@ -1058,7 +1058,7 @@ Range: 0-50ms, default is 5.</string>
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:AccelTime</string>
<string>element:Roll</string>
@ -1081,7 +1081,7 @@ Range: 0-50ms, default is 5.</string>
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:AccelTime</string>
<string>element:Pitch</string>
@ -1104,7 +1104,7 @@ Range: 0-50ms, default is 5.</string>
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:AccelTime</string>
<string>element:Yaw</string>
@ -1134,7 +1134,7 @@ Range: 0-50ms, default is 5.</string>
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:DecelTime</string>
<string>element:Roll</string>
@ -1157,7 +1157,7 @@ Range: 0-50ms, default is 5.</string>
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:DecelTime</string>
<string>element:Pitch</string>
@ -1180,7 +1180,7 @@ Range: 0-50ms, default is 5.</string>
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:DecelTime</string>
<string>element:Yaw</string>
@ -1208,7 +1208,7 @@ Used to limit feed forward acceleration at extreme angles.
Generic type provides no limit.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:GimbalType</string>
<string>buttongroup:1</string>
@ -1244,7 +1244,7 @@ The same value is used for all axes.</string>
<number>500</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>objname:CameraStabSettings</string>
<string>fieldname:MaxAccel</string>
<string>buttongroup:1</string>
@ -1321,7 +1321,7 @@ The same value is used for all axes.</string>
</spacer>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="camerastabilizationHelp">
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -1362,14 +1362,14 @@ The same value is used for all axes.</string>
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>button:help</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="camerastabilizationResetToDefaults">
<widget class="QPushButton" name="defaultButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -1392,7 +1392,7 @@ Apply or Save button afterwards.</string>
<string>Reset To Defaults</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>button:default</string>
<string>buttongroup:1</string>
</stringlist>
@ -1400,7 +1400,7 @@ Apply or Save button afterwards.</string>
</widget>
</item>
<item row="0" column="3">
<widget class="QPushButton" name="pushButton">
<widget class="QPushButton" name="reloadButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -1425,7 +1425,7 @@ Apply or Save button afterwards.</string>
<string>Reload Board Data</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>button:reload</string>
<string>buttongroup:1</string>
</stringlist>
@ -1433,7 +1433,7 @@ Apply or Save button afterwards.</string>
</widget>
</item>
<item row="0" column="4">
<widget class="QPushButton" name="camerastabilizationSaveRAM">
<widget class="QPushButton" name="applyButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -1453,14 +1453,14 @@ Apply or Save button afterwards.</string>
<string>Apply</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>button:apply</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QPushButton" name="camerastabilizationSaveSD">
<widget class="QPushButton" name="saveButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -1483,7 +1483,7 @@ Apply or Save button afterwards.</string>
<bool>false</bool>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<stringlist notr="true">
<string>button:save</string>
</stringlist>
</property>
@ -1528,10 +1528,10 @@ Apply or Save button afterwards.</string>
<tabstop>yawDecelTime</tabstop>
<tabstop>gimbalType</tabstop>
<tabstop>maxAccel</tabstop>
<tabstop>camerastabilizationResetToDefaults</tabstop>
<tabstop>pushButton</tabstop>
<tabstop>camerastabilizationSaveRAM</tabstop>
<tabstop>camerastabilizationSaveSD</tabstop>
<tabstop>defaultButton</tabstop>
<tabstop>reloadButton</tabstop>
<tabstop>applyButton</tabstop>
<tabstop>saveButton</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>

15
ground/gcs/src/plugins/config/cc_hw_settings.ui
View File

@ -456,7 +456,7 @@
</spacer>
</item>
<item>
<widget class="QPushButton" name="cchwHelp">
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -494,10 +494,13 @@
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:help</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToRAM">
<widget class="QPushButton" name="applyButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -596,10 +599,13 @@ Beware of not locking yourself out!</string>
<property name="checkable">
<bool>false</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToSD">
<widget class="QPushButton" name="saveButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -625,6 +631,9 @@ Beware of not locking yourself out!</string>
<property name="text">
<string>Save</string>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:save</string>
</property>
</widget>
</item>
</layout>

13
ground/gcs/src/plugins/config/ccattitude.ui
View File

@ -117,7 +117,7 @@
<x>0</x>
<y>0</y>
<width>758</width>
<height>486</height>
<height>480</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
@ -550,7 +550,7 @@ A setting of 0.00 disables the filter.</string>
</spacer>
</item>
<item>
<widget class="QPushButton" name="ccAttitudeHelp">
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -582,6 +582,9 @@ A setting of 0.00 disables the filter.</string>
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:help</string>
</property>
</widget>
</item>
<item>
@ -595,6 +598,9 @@ A setting of 0.00 disables the filter.</string>
<property name="text">
<string>Apply</string>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:apply</string>
</property>
</widget>
</item>
<item>
@ -611,6 +617,9 @@ A setting of 0.00 disables the filter.</string>
<property name="text">
<string>Save</string>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:save</string>
</property>
</widget>
</item>
</layout>

3653
ground/gcs/src/plugins/config/ccpm_old.ui
View File

@ -1,3653 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ccpmWidget</class>
<widget class="QWidget" name="ccpmWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>850</width>
<height>572</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>300</width>
<height>300</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_17">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_13">
<item row="0" column="0">
<layout class="QFormLayout" name="formLayout_6">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<property name="topMargin">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Swashplate config:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="ccpmType">
<property name="toolTip">
<string>Select aircraft type here</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<widget class="QTabWidget" name="TabObject">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>300</width>
<height>300</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">#SwashplateBox,#SwashplateBox_2,#SwashplateBox_3,#SwashplateBox_4,#ccpmSwashImageBox,#SwashLvlInstructionsBox,#SwashLvlccpmSwashImageBox,#SwashLvlccpmSliderBox,#SwashLvlStatusBox,#ThrottleCurveBox,#PitchCurveBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="BasicTab">
<attribute name="title">
<string>Basic settings</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_6">
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<property name="spacing">
<number>3</number>
</property>
<item row="0" column="0">
<layout class="QVBoxLayout" name="ccpmSettingsBox" stretch="0,1,1,0,0">
<item>
<widget class="QGroupBox" name="SwashplateBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Motor outputs</string>
</property>
<layout class="QGridLayout" name="gridLayout_18">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="2" column="1">
<widget class="QComboBox" name="ccpmTailChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="ccpmEngineChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="ccpmTailLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Tail Rotor</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="ccpmEngineLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Engine</string>
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="SwashplateBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Swashplate outputs</string>
</property>
<layout class="QGridLayout" name="gridLayout_19">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<widget class="QLabel" name="ccpmServoWLabel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Servo W</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="ccpmServoWChannel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="ccpmServoXChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="ccpmServoYChannel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="ccpmServoXLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Servo X</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QComboBox" name="ccpmSingleServo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<item>
<property name="text">
<string>Front</string>
</property>
</item>
<item>
<property name="text">
<string>Right</string>
</property>
</item>
<item>
<property name="text">
<string>Rear</string>
</property>
</item>
<item>
<property name="text">
<string>Left</string>
</property>
</item>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="ccpmServoZLabel_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>1st Servo</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="ccpmServoZChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="ccpmServoZLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Servo Z</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="ccpmServoYLabel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Servo Y</string>
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="SwashplateBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Swashplate Servo Angles</string>
</property>
<layout class="QGridLayout" name="gridLayout_20">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleW">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="ccpmServoWLabel_2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Angle W</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="ccpmServoXLabel_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Angle X</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="ccpmServoYLabel_2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Angle Y</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="ccpmServoZLabel_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Angle Z</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_10">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Correction Angle</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleX">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="ccpmCorrectionAngle">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleZ">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleY">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_7">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="SwashplateBox_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>CCPM Options</string>
</property>
<layout class="QGridLayout" name="gridLayout_21">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="2" column="0">
<widget class="QCheckBox" name="ccpmCollectivePassthrough">
<property name="text">
<string>Collective Pass through</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="ccpmLinkRoll">
<property name="text">
<string>Link Roll/Pitch</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="ccpmLinkCyclic">
<property name="text">
<string>Link Cyclic/Collective</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="0" column="10">
<layout class="QVBoxLayout" name="ccpmSwashImageBox_2">
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="ccpmSwashImageBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>600</width>
<height>600</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="title">
<string>Swashplate Layout</string>
</property>
<property name="alignment">
<set>Qt::AlignHCenter|Qt::AlignTop</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_10">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<widget class="QSplitter" name="splitter_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QGraphicsView" name="SwashplateImage">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="frameShape">
<enum>QFrame::Box</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="DiagCrossPattern">
<color alpha="50">
<red>112</red>
<green>184</green>
<blue>138</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>127</red>
<green>127</green>
<blue>127</blue>
</color>
</brush>
</property>
<property name="sceneRect">
<rectf>
<x>0.000000000000000</x>
<y>0.000000000000000</y>
<width>400.000000000000000</width>
<height>400.000000000000000</height>
</rectf>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="resizeAnchor">
<enum>QGraphicsView::AnchorViewCenter</enum>
</property>
</widget>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item row="0" column="3">
<layout class="QHBoxLayout" name="horizontalLayout_10">
<property name="sizeConstraint">
<enum>QLayout::SetNoConstraint</enum>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<widget class="QGroupBox" name="ccpmRevoMixingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>REVO</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_10">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_14">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>100%</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmRevoSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_13">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>0%</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="ccpmREVOspinBox"/>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmPitchMixingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>60</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>CCPM</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_11">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_15">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>Collective</string>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmCollectiveSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_16">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>Cyclic</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="ccpmCollectivespinBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmCollectiveScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Collective</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_12">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_12">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmCollectiveScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_16">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmCollectiveScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmCyclicScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Cyclic</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_13">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmCyclicScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmCyclicScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmPitchScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_14">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<spacer name="horizontalSpacer_17">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmPitchScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_18">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmPitchScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmRollScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_15">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>7</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="ccpmRollScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmRollScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="SwashPlateLevel">
<attribute name="title">
<string>Swashplate Levelling</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_8">
<property name="margin">
<number>3</number>
</property>
<property name="spacing">
<number>3</number>
</property>
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_8">
<property name="leftMargin">
<number>3</number>
</property>
<item>
<widget class="QGroupBox" name="SwashLvlInstructionsBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>228</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Commands</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_16">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_9">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QPushButton" name="SwashLvlStartButton">
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Start</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="SwashLvlNextButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Next</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QTextEdit" name="SwashLvlStepInstruction">
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>220</width>
<height>450</height>
</size>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QPushButton" name="SwashLvlCancelButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>170</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>170</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Cancel</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="SwashLvlFinishButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>170</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>170</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Finish</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="SwashLvlStatusBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Status</string>
</property>
<layout class="QGridLayout" name="gridLayout_22">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<widget class="QListWidget" name="SwashLvlStepList">
<property name="minimumSize">
<size>
<width>220</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<height>125</height>
</size>
</property>
<property name="editTriggers">
<set>QAbstractItemView::NoEditTriggers</set>
</property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<property name="selectionMode">
<enum>QAbstractItemView::NoSelection</enum>
</property>
<property name="selectionBehavior">
<enum>QAbstractItemView::SelectRows</enum>
</property>
<item>
<property name="text">
<string>Neutral</string>
</property>
<property name="icon">
<iconset>
<normaloff>:/configgadget/images/none.png</normaloff>
<normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
</property>
</item>
<item>
<property name="text">
<string>Max</string>
</property>
<property name="icon">
<iconset>
<normaloff>:/configgadget/images/none.png</normaloff>
<normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
</property>
</item>
<item>
<property name="text">
<string>Min</string>
</property>
<property name="icon">
<iconset>
<normaloff>:/configgadget/images/none.png</normaloff>
<normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
</property>
<property name="flags">
<set>ItemIsSelectable|ItemIsEnabled</set>
</property>
</item>
<item>
<property name="text">
<string>Verify</string>
</property>
<property name="icon">
<iconset>
<normaloff>:/configgadget/images/none.png</normaloff>
<normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
</property>
<property name="flags">
<set>ItemIsEnabled</set>
</property>
</item>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_19">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="SwashLvlccpmSliderBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="title">
<string>Position</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_18">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_17">
<property name="enabled">
<bool>true</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSlider" name="SwashLvlPositionSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_18">
<property name="enabled">
<bool>true</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
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>
<widget class="QSpinBox" name="SwashLvlPositionSpinBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="2">
<widget class="QGroupBox" name="SwashLvlccpmSwashImageBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>600</width>
<height>600</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="title">
<string>Swashplate Adjustment</string>
</property>
<property name="alignment">
<set>Qt::AlignHCenter|Qt::AlignTop</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_11">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<widget class="QSplitter" name="splitter_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QGraphicsView" name="SwashLvlSwashplateImage">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="frameShape">
<enum>QFrame::Box</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="midLineWidth">
<number>0</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="DiagCrossPattern">
<color alpha="25">
<red>126</red>
<green>176</green>
<blue>220</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="sceneRect">
<rectf>
<x>0.000000000000000</x>
<y>0.000000000000000</y>
<width>400.000000000000000</width>
<height>400.000000000000000</height>
</rectf>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="resizeAnchor">
<enum>QGraphicsView::AnchorViewCenter</enum>
</property>
</widget>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_17">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="CurveTab">
<attribute name="title">
<string>Curve settings</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_7">
<property name="margin">
<number>3</number>
</property>
<property name="spacing">
<number>3</number>
</property>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6"/>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="spacing">
<number>3</number>
</property>
<item>
<widget class="QGroupBox" name="ThrottleCurveBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="title">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>0</number>
</property>
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="MixerCurve" name="ThrottleCurve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="PitchCurveBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="title">
<string/>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<property name="margin">
<number>0</number>
</property>
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="MixerCurve" name="PitchCurve" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item row="2" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="AdvancedTab">
<attribute name="title">
<string>Advanced settings</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_4">
<property name="margin">
<number>3</number>
</property>
<property name="spacing">
<number>3</number>
</property>
<item row="0" column="0">
<widget class="QTableWidget" name="ccpmAdvancedSettingsTable">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>300</height>
</size>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="autoScroll">
<bool>true</bool>
</property>
<property name="alternatingRowColors">
<bool>true</bool>
</property>
<property name="selectionMode">
<enum>QAbstractItemView::NoSelection</enum>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
<property name="cornerButtonEnabled">
<bool>true</bool>
</property>
<attribute name="horizontalHeaderDefaultSectionSize">
<number>75</number>
</attribute>
<attribute name="horizontalHeaderMinimumSectionSize">
<number>20</number>
</attribute>
<row>
<property name="text">
<string>Engine</string>
</property>
</row>
<row>
<property name="text">
<string>Tail Rotor</string>
</property>
</row>
<row>
<property name="text">
<string>Servo W</string>
</property>
</row>
<row>
<property name="text">
<string>Servo X</string>
</property>
</row>
<row>
<property name="text">
<string>Servo Y</string>
</property>
</row>
<row>
<property name="text">
<string>Servo Z</string>
</property>
</row>
<column>
<property name="text">
<string>Channel</string>
</property>
</column>
<column>
<property name="text">
<string>Curve 1</string>
</property>
</column>
<column>
<property name="text">
<string>Curve 2</string>
</property>
</column>
<column>
<property name="text">
<string>Roll</string>
</property>
</column>
<column>
<property name="text">
<string>Pitch</string>
</property>
</column>
<column>
<property name="text">
<string>Yaw</string>
</property>
</column>
<item row="0" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="0">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="1">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="2">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="3">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="4">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="5">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>MixerCurve</class>
<extends>QWidget</extends>
<header location="global">mixercurve.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<tabstops>
<tabstop>ccpmType</tabstop>
<tabstop>TabObject</tabstop>
<tabstop>ccpmEngineChannel</tabstop>
<tabstop>ccpmTailChannel</tabstop>
<tabstop>ccpmServoWChannel</tabstop>
<tabstop>ccpmServoXChannel</tabstop>
<tabstop>ccpmServoYChannel</tabstop>
<tabstop>ccpmServoZChannel</tabstop>
<tabstop>ccpmSingleServo</tabstop>
<tabstop>ccpmAngleW</tabstop>
<tabstop>ccpmAngleX</tabstop>
<tabstop>ccpmAngleY</tabstop>
<tabstop>ccpmAngleZ</tabstop>
<tabstop>ccpmCorrectionAngle</tabstop>
<tabstop>ccpmRevoSlider</tabstop>
<tabstop>ccpmREVOspinBox</tabstop>
<tabstop>ccpmCollectiveSlider</tabstop>
<tabstop>ccpmCollectivespinBox</tabstop>
<tabstop>SwashplateImage</tabstop>
<tabstop>SwashLvlStartButton</tabstop>
<tabstop>SwashLvlNextButton</tabstop>
<tabstop>SwashLvlStepInstruction</tabstop>
<tabstop>SwashLvlCancelButton</tabstop>
<tabstop>SwashLvlFinishButton</tabstop>
<tabstop>SwashLvlStepList</tabstop>
<tabstop>SwashLvlPositionSlider</tabstop>
<tabstop>SwashLvlPositionSpinBox</tabstop>
<tabstop>SwashLvlSwashplateImage</tabstop>
<tabstop>ccpmAdvancedSettingsTable</tabstop>
</tabstops>
<resources/>
<connections>
<connection>
<sender>ccpmCollectiveSlider</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmCollectivespinBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>261</x>
<y>496</y>
</hint>
<hint type="destinationlabel">
<x>269</x>
<y>546</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmCollectivespinBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmCollectiveSlider</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>269</x>
<y>546</y>
</hint>
<hint type="destinationlabel">
<x>261</x>
<y>511</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmREVOspinBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmRevoSlider</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>216</x>
<y>546</y>
</hint>
<hint type="destinationlabel">
<x>208</x>
<y>511</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmRevoSlider</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmREVOspinBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>208</x>
<y>412</y>
</hint>
<hint type="destinationlabel">
<x>216</x>
<y>546</y>
</hint>
</hints>
</connection>
<connection>
<sender>SwashLvlPositionSlider</sender>
<signal>valueChanged(int)</signal>
<receiver>SwashLvlPositionSpinBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>276</x>
<y>486</y>
</hint>
<hint type="destinationlabel">
<x>270</x>
<y>537</y>
</hint>
</hints>
</connection>
<connection>
<sender>SwashLvlPositionSpinBox</sender>
<signal>valueChanged(int)</signal>
<receiver>SwashLvlPositionSlider</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>301</x>
<y>546</y>
</hint>
<hint type="destinationlabel">
<x>277</x>
<y>401</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmCollectiveScaleBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmCollectiveScale</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>296</x>
<y>534</y>
</hint>
<hint type="destinationlabel">
<x>306</x>
<y>480</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmCollectiveScale</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmCollectiveScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>308</x>
<y>328</y>
</hint>
<hint type="destinationlabel">
<x>292</x>
<y>534</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmCyclicScale</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmCyclicScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>358</x>
<y>306</y>
</hint>
<hint type="destinationlabel">
<x>355</x>
<y>538</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmCyclicScaleBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmCyclicScale</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>341</x>
<y>538</y>
</hint>
<hint type="destinationlabel">
<x>351</x>
<y>376</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmPitchScale</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmPitchScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>417</x>
<y>306</y>
</hint>
<hint type="destinationlabel">
<x>406</x>
<y>531</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmPitchScaleBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmPitchScale</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>394</x>
<y>531</y>
</hint>
<hint type="destinationlabel">
<x>408</x>
<y>302</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmRollScaleBox</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmRollScale</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>455</x>
<y>529</y>
</hint>
<hint type="destinationlabel">
<x>458</x>
<y>466</y>
</hint>
</hints>
</connection>
<connection>
<sender>ccpmRollScale</sender>
<signal>valueChanged(int)</signal>
<receiver>ccpmRollScaleBox</receiver>
<slot>setValue(int)</slot>
<hints>
<hint type="sourcelabel">
<x>461</x>
<y>388</y>
</hint>
<hint type="destinationlabel">
<x>474</x>
<y>533</y>
</hint>
</hints>
</connection>
</connections>
</ui>

33
ground/gcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -29,6 +29,9 @@
#include "ui_airframe_ccpm.h"
#include <extensionsystem/pluginmanager.h>
#include <uavobjectutilmanager.h>
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
@ -124,8 +127,9 @@ QStringList ConfigCcpmWidget::getChannelDescriptions()
}
ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_CcpmConfigWidget())
VehicleConfig(parent)
{
m_aircraft = new Ui_CcpmConfigWidget();
m_aircraft->setupUi(this);
SwashLvlConfigurationInProgress = 0;
@ -1070,23 +1074,6 @@ void ConfigCcpmWidget::setMixer()
updatingToHardware = false;
}
/**
Send ccpm type to the board and request saving to SD card
*/
void ConfigCcpmWidget::saveccpmUpdate()
{
if (SwashLvlConfigurationInProgress) {
return;
}
ShowDisclaimer(0);
// Send update so that the latest value is saved
// sendccpmUpdate();
setMixer();
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
saveObjectToSD(obj);
}
void ConfigCcpmWidget::resizeEvent(QResizeEvent *event)
{
Q_UNUSED(event);
@ -1416,6 +1403,16 @@ void ConfigCcpmWidget::SwashLvlFinishButtonPressed()
ccpmSwashplateUpdate();
}
void ConfigCcpmWidget::saveObjectToSD(UAVObject *obj)
{
// saveObjectToSD is now handled by the UAVUtils plugin in one
// central place (and one central queue)
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
utilMngr->saveObjectToSD(obj);
}
int ConfigCcpmWidget::ShowDisclaimer(int messageID)
{
QMessageBox msgBox;

6
ground/gcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -31,8 +31,7 @@
#include "cfg_vehicletypes/vehicleconfig.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
class Ui_CcpmConfigWidget;
@ -69,7 +68,6 @@ public:
public slots:
void getMixer();
void setMixer();
void saveccpmUpdate();
protected:
void showEvent(QShowEvent *event);
@ -112,6 +110,8 @@ private:
QString updateConfigObjects();
void saveObjectToSD(UAVObject *obj);
private slots:
virtual void setupUI(QString airframeType);
virtual bool throwConfigError(int typeInt);

5
ground/gcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp
View File

@ -149,9 +149,11 @@ QStringList ConfigCustomWidget::getChannelDescriptions()
}
ConfigCustomWidget::ConfigCustomWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_CustomConfigWidget())
VehicleConfig(parent)
{
m_aircraft = new Ui_CustomConfigWidget();
m_aircraft->setupUi(this);
m_aircraft->customMixerTable->setEditTriggers(QAbstractItemView::NoEditTriggers);
// Put combo boxes in line one of the custom mixer table:
@ -190,6 +192,7 @@ void ConfigCustomWidget::registerWidgets(ConfigTaskWidget &parent)
parent.addWidget(m_aircraft->customThrottle1Curve);
parent.addWidget(m_aircraft->customThrottle2Curve->getCurveWidget());
parent.addWidget(m_aircraft->customThrottle2Curve);
// TODO why is curve2SourceCombo registered twice ?
parent.addWidgetBinding("MixerSettings", "Curve2Source", m_aircraft->curve2SourceCombo);
parent.addWidget(m_aircraft->curve2SourceCombo);
}

3
ground/gcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -109,8 +109,9 @@ QStringList ConfigFixedWingWidget::getChannelDescriptions()
}
ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_FixedWingConfigWidget())
VehicleConfig(parent)
{
m_aircraft = new Ui_FixedWingConfigWidget();
m_aircraft->setupUi(this);
populateChannelComboBoxes();

3
ground/gcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -73,8 +73,9 @@ QStringList ConfigGroundVehicleWidget::getChannelDescriptions()
}
ConfigGroundVehicleWidget::ConfigGroundVehicleWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_GroundConfigWidget())
VehicleConfig(parent)
{
m_aircraft = new Ui_GroundConfigWidget();
m_aircraft->setupUi(this);
populateChannelComboBoxes();

8
ground/gcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -132,8 +132,9 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
}
ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
VehicleConfig(parent), m_aircraft(new Ui_MultiRotorConfigWidget()), invertMotors(false)
VehicleConfig(parent), invertMotors(false)
{
m_aircraft = new Ui_MultiRotorConfigWidget();
m_aircraft->setupUi(this);
populateChannelComboBoxes();
@ -176,8 +177,6 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
m_aircraft->multiThrottleCurve->setXAxisLabel(tr("Input"));
m_aircraft->multiThrottleCurve->setYAxisLabel(tr("Output"));
updateEnableControls();
}
ConfigMultiRotorWidget::~ConfigMultiRotorWidget()
@ -874,9 +873,10 @@ void ConfigMultiRotorWidget::reverseMultirotorMotor()
void ConfigMultiRotorWidget::updateAirframe(QString frameType)
{
qDebug() << "ConfigMultiRotorWidget::updateAirframe - frame type" << frameType;
// qDebug() << "ConfigMultiRotorWidget::updateAirframe - frame type" << frameType;
QString elementId;
if (frameType == "Tri" || frameType == "Tricopter Y") {
elementId = "tri";
} else if (frameType == "QuadX" || frameType == "Quad X") {

6
ground/gcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -120,12 +120,12 @@ QString VehicleConfig::updateConfigObjectsFromWidgets()
return NULL;
}
void VehicleConfig::refreshWidgetsValues(UAVObject *o)
void VehicleConfig::refreshWidgetsValuesImpl(UAVObject *obj)
{
Q_UNUSED(o);
Q_UNUSED(obj);
}
void VehicleConfig::updateObjectsFromWidgets()
void VehicleConfig::updateObjectsFromWidgetsImpl()
{}
void VehicleConfig::resetActuators(GUIConfigDataUnion *configData)

14
ground/gcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -162,8 +162,13 @@ class ConfigTaskWidget;
/*
* This class handles vehicle specific configuration UI and associated logic.
*
* This class derives from ConfigTaskWidget and overrides its the default "binding" mechanism.
* It does not use the "dirty" state management directlyand registers its relevant widgets with ConfigTaskWidget to do so.
* VehicleConfig derives from ConfigTaskWidget but is not a top level ConfigTaskWidget.
* VehicleConfig objects are nested within the ConfigVehicleConfigWidget and have particularities:
* - bindings are added to the parent (i.e. ConfigVehicleConfigWidget)
* - auto bindings are not supported
* - as a consequence things like dirty state management are bypassed and delegated to the parent class.
*
* It does not use the "dirty" state management directly and registers its relevant widgets with ConfigTaskWidget to do so.
*/
class VehicleConfig : public ConfigTaskWidget {
Q_OBJECT
@ -244,9 +249,8 @@ protected:
double getCurveMin(QList<double> *curve);
double getCurveMax(QList<double> *curve);
protected slots:
virtual void refreshWidgetsValues(UAVObject *o = NULL);
virtual void updateObjectsFromWidgets();
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
static UAVObjectManager *getUAVObjectManager();

15
ground/gcs/src/plugins/config/config.pro
View File

@ -4,6 +4,12 @@ DEFINES += CONFIG_LIBRARY
QT += widgets svg opengl qml quick
# silence eigen warnings
QMAKE_CXXFLAGS_WARN_ON += -Wno-deprecated-declarations
win32 {
QMAKE_CXXFLAGS_WARN_ON += -Wno-ignored-attributes
}
include(config_dependencies.pri)
INCLUDEPATH += ../../libs/eigen
@ -21,8 +27,7 @@ HEADERS += \
configccattitudewidget.h \
configstabilizationwidget.h \
assertions.h \
defaultattitudewidget.h \
defaulthwsettingswidget.h \
defaultconfigwidget.h \
channelform.h \
inputchannelform.h \
configcamerastabilizationwidget.h \
@ -70,8 +75,7 @@ SOURCES += \
config_cc_hw_widget.cpp \
configccattitudewidget.cpp \
configstabilizationwidget.cpp \
defaultattitudewidget.cpp \
defaulthwsettingswidget.cpp \
defaultconfigwidget.cpp \
channelform.cpp \
inputchannelform.cpp \
configcamerastabilizationwidget.cpp \
@ -114,8 +118,7 @@ FORMS += \
input_wizard.ui \
output.ui \
ccattitude.ui \
defaultattitude.ui \
defaulthwsettings.ui \
defaultconfig.ui \
inputchannelform.ui \
camerastabilization.ui \
outputchannelform.ui \

52
ground/gcs/src/plugins/config/config_cc_hw_widget.cpp
View File

@ -1,14 +1,14 @@
/**
******************************************************************************
*
* @file configtelemetrywidget.h
* @file config_cc_hw_widget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief The Configuration Gadget used to update settings in the firmware
* @brief The Configuration Gadget used to update hardware settings in the firmware
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -31,34 +31,28 @@
#include "ui_cc_hw_settings.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjectutilmanager.h>
#include "hwsettings.h"
#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QDesktopServices>
#include <QUrl>
#include <QSvgRenderer>
ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_telemetry = new Ui_CC_HW_Widget();
m_telemetry->setupUi(this);
// must be done before auto binding !
setWikiURL("CC+Hardware+Configuration");
addAutoBindings();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_telemetry->saveTelemetryToRAM->setVisible(false);
}
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
switch (id) {
case 0x0101:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0101.svg"));
@ -79,7 +73,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
}
addApplySaveButtons(m_telemetry->saveTelemetryToRAM, m_telemetry->saveTelemetryToSD);
addWidgetBinding("HwSettings", "CC_FlexiPort", m_telemetry->cbFlexi);
addWidgetBinding("HwSettings", "CC_MainPort", m_telemetry->cbTele);
addWidgetBinding("HwSettings", "CC_RcvrPort", m_telemetry->cbRcvr);
@ -90,20 +84,13 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
// Add Gps protocol configuration
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
if (hwSettings->getOptionalModules(HwSettings::OPTIONALMODULES_GPS) != HwSettings::OPTIONALMODULES_ENABLED) {
m_telemetry->gpsProtocol->setEnabled(false);
m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
} else {
addWidgetBinding("GPSSettings", "DataProtocol", m_telemetry->gpsProtocol);
}
connect(m_telemetry->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
enableSaveButtons(false);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
}
ConfigCCHWWidget::~ConfigCCHWWidget()
@ -146,17 +133,6 @@ void ConfigCCHWWidget::widgetsContentsChanged()
void ConfigCCHWWidget::enableSaveButtons(bool enable)
{
m_telemetry->saveTelemetryToRAM->setEnabled(enable);
m_telemetry->saveTelemetryToSD->setEnabled(enable);
m_telemetry->applyButton->setEnabled(enable);
m_telemetry->saveButton->setEnabled(enable);
}
void ConfigCCHWWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("CC+Hardware+Configuration"),
QUrl::StrictMode));
}
/**
* @}
* @}
*/

18
ground/gcs/src/plugins/config/config_cc_hw_widget.h
View File

@ -1,13 +1,14 @@
/**
******************************************************************************
*
* @file configtelemetrytwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file config_cc_hw_widget.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Telemetry configuration panel
* @brief The Configuration Gadget used to update hardware settings in the firmware
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -28,16 +29,10 @@
#define CONFIGCCHWWIDGET_H
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "smartsavebutton.h"
#include <QWidget>
#include <QList>
#include <QSvgRenderer>
class Ui_CC_HW_Widget;
class QWidget;
class QSvgRenderer;
class ConfigCCHWWidget : public ConfigTaskWidget {
Q_OBJECT
@ -46,7 +41,6 @@ public:
ConfigCCHWWidget(QWidget *parent = 0);
~ConfigCCHWWidget();
private slots:
void openHelp();
void refreshValues();
void widgetsContentsChanged();
void enableSaveButtons(bool enable);

30
ground/gcs/src/plugins/config/configautotunewidget.cpp
View File

@ -23,8 +23,11 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
m_autotune = new Ui_AutotuneWidget();
m_autotune->setupUi(this);
// Connect automatic signals
autoLoadWidgets();
// must be done before auto binding !
// setWikiURL("");
addAutoBindings();
disableMouseWheelEvents();
// Whenever any value changes compute new potential stabilization settings
@ -148,26 +151,23 @@ void ConfigAutotuneWidget::recomputeStabilization()
m_autotune->pitchAttitudeKp->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP]));
m_autotune->pitchAttitudeKi->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI]));
}
void ConfigAutotuneWidget::refreshWidgetsValues(UAVObject *obj)
void ConfigAutotuneWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
if (obj == hwSettings) {
bool dirtyBack = isDirty();
HwSettings::DataFields hwSettingsData = hwSettings->getData();
m_autotune->enableAutoTune->setChecked(
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_AUTOTUNE] == HwSettings::OPTIONALMODULES_ENABLED);
setDirty(dirtyBack);
bool enabled = (hwSettings->getOptionalModules(HwSettings::OPTIONALMODULES_AUTOTUNE) == HwSettings::OPTIONALMODULES_ENABLED);
m_autotune->enableAutoTune->setChecked(enabled);
}
ConfigTaskWidget::refreshWidgetsValues(obj);
}
void ConfigAutotuneWidget::updateObjectsFromWidgets()
void ConfigAutotuneWidget::updateObjectsFromWidgetsImpl()
{
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_AUTOTUNE] =
m_autotune->enableAutoTune->isChecked() ? HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
hwSettings->setData(hwSettingsData);
ConfigTaskWidget::updateObjectsFromWidgets();
quint8 enableModule = (m_autotune->enableAutoTune->isChecked()) ? HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_AUTOTUNE, enableModule);
;
}

7
ground/gcs/src/plugins/config/configautotunewidget.h
View File

@ -50,11 +50,10 @@ private:
Ui_AutotuneWidget *m_autotune;
StabilizationSettings::DataFields stabSettings;
signals:
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
public slots:
void refreshWidgetsValues(UAVObject *obj);
void updateObjectsFromWidgets();
private slots:
void recomputeStabilization();
void saveStabilization();

63
ground/gcs/src/plugins/config/configcamerastabilizationwidget.cpp
View File

@ -38,9 +38,6 @@
#include "ui_camerastabilization.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include "camerastabsettings.h"
#include "hwsettings.h"
#include "mixersettings.h"
@ -51,22 +48,16 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent
ui = new Ui_CameraStabilizationWidget();
ui->setupUi(this);
addApplySaveButtons(ui->camerastabilizationSaveRAM, ui->camerastabilizationSaveSD);
// must be done before auto binding !
setWikiURL("Camera+Stabilisation+Configuration");
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
ui->camerastabilizationSaveRAM->setVisible(false);
}
addAutoBindings();
disableMouseWheelEvents();
// These widgets don't have direct relation to UAVObjects
// and need special processing
QComboBox *outputs[] = {
ui->rollChannel,
ui->pitchChannel,
ui->yawChannel,
};
QComboBox *outputs[] = { ui->rollChannel, ui->pitchChannel, ui->yawChannel, };
const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
// Populate widgets with channel numbers
@ -78,11 +69,6 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent
}
}
setWikiURL("Camera+Stabilisation+Configuration");
// Load UAVObjects to widget relations from UI file
// using objrelation dynamic property
autoLoadWidgets();
// Add some widgets to track their UI dirty state and handle smartsave
addWidget(ui->enableCameraStabilization);
addWidget(ui->rollChannel);
@ -101,9 +87,6 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent
// To set special widgets to defaults when requested
connect(this, SIGNAL(defaultRequested(int)), this, SLOT(defaultRequestedSlot(int)));
disableMouseWheelEvents();
updateEnableControls();
}
ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget()
@ -114,21 +97,19 @@ ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget()
/*
* This overridden function refreshes widgets which have no direct relation
* to any of UAVObjects. It saves their dirty state first because update comes
* from UAVObjects, and then restores it. Aftewards it calls base class
* function to take care of other widgets which were dynamically added.
* from UAVObjects, and then restores it.
*/
void ConfigCameraStabilizationWidget::refreshWidgetsValues(UAVObject *obj)
void ConfigCameraStabilizationWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
bool dirty = isDirty();
Q_UNUSED(obj);
// Set module enable checkbox from OptionalModules UAVObject item.
// It needs special processing because ConfigTaskWidget uses TRUE/FALSE
// for QCheckBox, but OptionalModules uses Enabled/Disabled enum values.
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
ui->enableCameraStabilization->setChecked(
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] == HwSettings::OPTIONALMODULES_ENABLED);
hwSettings->getOptionalModules(HwSettings::OPTIONALMODULES_CAMERASTAB) == HwSettings::OPTIONALMODULES_ENABLED);
// Load mixer outputs which are mapped to camera controls
MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager());
@ -168,22 +149,16 @@ void ConfigCameraStabilizationWidget::refreshWidgetsValues(UAVObject *obj)
}
}
}
setDirty(dirty);
ConfigTaskWidget::refreshWidgetsValues(obj);
}
/*
* This overridden function updates UAVObjects which have no direct relation
* to any of widgets. Aftewards it calls base class function to take care of
* other object to widget relations which were dynamically added.
* to any of widgets.
*/
void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
void ConfigCameraStabilizationWidget::updateObjectsFromWidgetsImpl()
{
// Save state of the module enable checkbox first.
// Do not use setData() member on whole object, if possible, since it triggers
// unnessesary UAVObect update.
// Do not use setData() member on whole object, if possible, since it triggers unnecessary UAVObect update.
quint8 enableModule = ui->enableCameraStabilization->isChecked() ?
HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
@ -257,8 +232,6 @@ void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
// FIXME: Should not use setData() to prevent double updates.
// It should be refactored after the reformatting of MixerSettings UAVObject.
mixerSettings->setData(mixerSettingsData);
ConfigTaskWidget::updateObjectsFromWidgets();
}
/*
@ -269,18 +242,6 @@ void ConfigCameraStabilizationWidget::defaultRequestedSlot(int group)
{
Q_UNUSED(group);
// Here is the example of how to reset the state of QCheckBox. It is
// commented out because we normally don't want to reset the module
// enable state to default "disabled" (or we don't care about values at all).
// But if you want, you could use the dirtyClone() function to get default
// values of an object and then use them to set a widget state.
//
// HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
// HwSettings *hwSettingsDefault=(HwSettings*)hwSettings->dirtyClone();
// HwSettings::DataFields hwSettingsData = hwSettingsDefault->getData();
// m_camerastabilization->enableCameraStabilization->setChecked(
// hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] == HwSettings::OPTIONALMODULES_ENABLED);
// For outputs we set them all to none, so don't use any UAVObject to get defaults
QComboBox *outputs[] = {
ui->rollChannel,

9
ground/gcs/src/plugins/config/configcamerastabilizationwidget.h
View File

@ -28,8 +28,7 @@
#define CONFIGCAMERASTABILIZATIONWIDGET_H
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "camerastabsettings.h"
@ -43,10 +42,12 @@ public:
ConfigCameraStabilizationWidget(QWidget *parent = 0);
~ConfigCameraStabilizationWidget();
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
Ui_CameraStabilizationWidget *ui;
void refreshWidgetsValues(UAVObject *obj);
void updateObjectsFromWidgets();
private slots:
void defaultRequestedSlot(int group);

43
ground/gcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -29,9 +29,7 @@
#include "ui_ccattitude.h"
#include "utils/coordinateconversions.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <utils/coordinateconversions.h>
#include <calibration/calibrationutils.h>
#include "attitudesettings.h"
@ -39,32 +37,23 @@
#include "accelgyrosettings.h"
#include "gyrostate.h"
#include <QMutexLocker>
#include <QMessageBox>
#include <QDebug>
#include <QDesktopServices>
#include <QUrl>
ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
ConfigTaskWidget(parent),
ui(new Ui_ccattitude)
ConfigTaskWidget(parent), accelUpdates(0), gyroUpdates(0)
{
ui = new Ui_ccattitude(),
ui->setupUi(this);
connect(ui->zeroBias, SIGNAL(clicked()), this, SLOT(startAccelCalibration()));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
ui->applyButton->setVisible(false);
}
// must be done before auto binding !
setWikiURL("CC+Attitude+Configuration");
addAutoBindings();
addApplySaveButtons(ui->applyButton, ui->saveButton);
addUAVObject("AttitudeSettings");
addUAVObject("AccelGyroSettings");
// Connect the help button
connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addWidgetBinding("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming);
addWidgetBinding("AttitudeSettings", "InitialZeroWhenBoardSteady", ui->initGyroWhenBoardSteady);
@ -74,9 +63,8 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->pitchBias, AttitudeSettings::BOARDROTATION_PITCH);
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->yawBias, AttitudeSettings::BOARDROTATION_YAW);
addWidget(ui->zeroBias);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
connect(ui->zeroBias, SIGNAL(clicked()), this, SLOT(startAccelCalibration()));
}
ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
@ -144,7 +132,8 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject *obj)
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
AccelGyroSettings::GetInstance(getObjectManager())->setData(accelGyroSettingsData);
this->setDirty(true);
setDirty(true);
// reenable controls
enableControls(true);
@ -220,12 +209,6 @@ void ConfigCCAttitudeWidget::startAccelCalibration()
connect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
}
void ConfigCCAttitudeWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("CC+Attitude+Configuration"),
QUrl::StrictMode));
}
void ConfigCCAttitudeWidget::setAccelFiltering(bool active)
{
Q_UNUSED(active);
@ -241,9 +224,7 @@ void ConfigCCAttitudeWidget::enableControls(bool enable)
ConfigTaskWidget::enableControls(enable);
}
void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
void ConfigCCAttitudeWidget::updateObjectsFromWidgetsImpl()
{
ConfigTaskWidget::updateObjectsFromWidgets();
ui->zeroBiasProgress->setValue(0);
}

8
ground/gcs/src/plugins/config/configccattitudewidget.h
View File

@ -28,8 +28,7 @@
#define CCATTITUDEWIDGET_H
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include <QWidget>
@ -44,13 +43,13 @@ public:
explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
~ConfigCCAttitudeWidget();
virtual void updateObjectsFromWidgets();
protected:
virtual void updateObjectsFromWidgetsImpl();
private slots:
void sensorsUpdated(UAVObject *obj);
void timeout();
void startAccelCalibration();
void openHelp();
void setAccelFiltering(bool active);
private:
@ -66,6 +65,7 @@ private:
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
static const int NUM_SENSOR_UPDATES = 300;
protected:
virtual void enableControls(bool enable);
};

16
ground/gcs/src/plugins/config/configgadget.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configgadget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -25,8 +26,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configgadget.h"
#include "configgadgetwidget.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
ConfigGadget::ConfigGadget(QString classId, ConfigGadgetWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent), m_widget(widget)
{}
@ -40,3 +44,13 @@ void ConfigGadget::loadConfiguration(IUAVGadgetConfiguration *config)
{
Q_UNUSED(config);
}
void ConfigGadget::saveState(QSettings *settings)
{
m_widget->saveState(settings);
}
void ConfigGadget::restoreState(QSettings *settings)
{
m_widget->restoreState(settings);
}

11
ground/gcs/src/plugins/config/configgadget.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configgadget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -28,14 +29,10 @@
#define CONFIGGADGET_H
#include <coreplugin/iuavgadget.h>
#include "../uavobjectwidgetutils/configtaskwidget.h"
class IUAVGadget;
// class QList<int>;
class QWidget;
class QString;
class ConfigGadgetWidget;
class Ui_ConfigGadget;
using namespace Core;
@ -49,8 +46,12 @@ public:
{
return (QWidget *)m_widget;
}
void loadConfiguration(IUAVGadgetConfiguration *config);
void saveState(QSettings *settings);
void restoreState(QSettings *settings);
private:
ConfigGadgetWidget *m_widget;
};

263
ground/gcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -41,18 +41,22 @@
#include "configrevowidget.h"
#include "configrevonanohwwidget.h"
#include "configsparky2hwwidget.h"
#include "defaultattitudewidget.h"
#include "defaulthwsettingswidget.h"
#include "uavobjectutilmanager.h"
#include "defaultconfigwidget.h"
#include <extensionsystem/pluginmanager.h>
#include <uavobjectutilmanager.h>
#include <uavtalk/telemetrymanager.h>
#include <uavtalk/oplinkmanager.h>
#include "utils/mytabbedstackwidget.h"
#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QMessageBox>
#include <QSettings>
#include <QDebug>
#define OPLINK_TIMEOUT 2000
ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
{
@ -66,85 +70,93 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
layout->addWidget(stackWidget);
setLayout(layout);
QWidget *qwd;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
QIcon *icon = new QIcon();
QWidget *widget;
QIcon *icon;
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);
stackWidget->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
widget = new DefaultConfigWidget(this, tr("Hardware"));
stackWidget->insertTab(ConfigGadgetWidget::Hardware, widget, *icon, QString("Hardware"));
icon = new QIcon();
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);
stackWidget->insertTab(ConfigGadgetWidget::aircraft, qwd, *icon, QString("Vehicle"));
widget = new ConfigVehicleTypeWidget(this);
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::Aircraft, widget, *icon, QString("Vehicle"));
icon = new QIcon();
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);
stackWidget->insertTab(ConfigGadgetWidget::input, qwd, *icon, QString("Input"));
widget = new ConfigInputWidget(this);
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::Input, widget, *icon, QString("Input"));
icon = new QIcon();
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);
stackWidget->insertTab(ConfigGadgetWidget::output, qwd, *icon, QString("Output"));
widget = new ConfigOutputWidget(this);
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::Output, widget, *icon, QString("Output"));
icon = new 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);
qwd = new DefaultAttitudeWidget(this);
stackWidget->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Attitude"));
widget = new DefaultConfigWidget(this, tr("Attitude"));
stackWidget->insertTab(ConfigGadgetWidget::Sensors, widget, *icon, QString("Attitude"));
icon = new QIcon();
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);
stackWidget->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
widget = new ConfigStabilizationWidget(this);
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::Stabilization, widget, *icon, QString("Stabilization"));
icon = new QIcon();
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);
stackWidget->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Gimbal"));
widget = new ConfigCameraStabilizationWidget(this);
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::CameraStabilization, widget, *icon, QString("Gimbal"));
icon = new QIcon();
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);
stackWidget->insertTab(ConfigGadgetWidget::txpid, qwd, *icon, QString("TxPID"));
widget = new ConfigTxPIDWidget(this);
static_cast<ConfigTaskWidget *>(widget)->bind();
stackWidget->insertTab(ConfigGadgetWidget::TxPid, widget, *icon, QString("TxPID"));
stackWidget->setCurrentIndex(ConfigGadgetWidget::hardware);
icon = new QIcon();
icon->addFile(":/configgadget/images/pipx-normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/pipx-selected.png", QSize(), QIcon::Selected, QIcon::Off);
widget = new DefaultConfigWidget(this, tr("OPLink Configuration"));
stackWidget->insertTab(ConfigGadgetWidget::OPLink, widget, *icon, QString("OPLink"));
// Listen to autopilot connection events
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
stackWidget->setCurrentIndex(ConfigGadgetWidget::Hardware);
// And check whether by any chance we are not already connected
if (telMngr->isConnected()) {
// connect to autopilot connection events
TelemetryManager *tm = pm->getObject<TelemetryManager>();
connect(tm, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(tm, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
// check if we are already connected
if (tm->isConnected()) {
onAutopilotConnect();
}
// connect to oplink manager
OPLinkManager *om = pm->getObject<OPLinkManager>();
connect(om, SIGNAL(connected()), this, SLOT(onOPLinkConnect()));
connect(om, SIGNAL(disconnected()), this, SLOT(onOPLinkDisconnect()));
// check if we are already connected
if (om->isConnected()) {
onOPLinkConnect();
}
help = 0;
connect(stackWidget, SIGNAL(currentAboutToShow(int, bool *)), this, SLOT(tabAboutToChange(int, bool *)));
// Connect to the OPLinkStatus object updates
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
oplinkStatusObj = dynamic_cast<UAVDataObject *>(objManager->getObject("OPLinkStatus"));
if (oplinkStatusObj != NULL) {
connect(oplinkStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateOPLinkStatus(UAVObject *)));
} else {
qDebug() << "Error: Object is unknown (OPLinkStatus).";
}
// Create the timer that is used to timeout the connection to the OPLink.
oplinkTimeout = new QTimer(this);
connect(oplinkTimeout, SIGNAL(timeout()), this, SLOT(onOPLinkDisconnect()));
oplinkConnected = false;
}
ConfigGadgetWidget::~ConfigGadgetWidget()
@ -154,79 +166,118 @@ ConfigGadgetWidget::~ConfigGadgetWidget()
void ConfigGadgetWidget::startInputWizard()
{
stackWidget->setCurrentIndex(ConfigGadgetWidget::input);
ConfigInputWidget *inputWidget = dynamic_cast<ConfigInputWidget *>(stackWidget->getWidget(ConfigGadgetWidget::input));
stackWidget->setCurrentIndex(ConfigGadgetWidget::Input);
ConfigInputWidget *inputWidget = dynamic_cast<ConfigInputWidget *>(stackWidget->getWidget(ConfigGadgetWidget::Input));
Q_ASSERT(inputWidget);
inputWidget->startInputWizard();
}
void ConfigGadgetWidget::saveState(QSettings *settings)
{
settings->setValue("currentIndex", stackWidget->currentIndex());
}
void ConfigGadgetWidget::restoreState(QSettings *settings)
{
int index = settings->value("currentIndex", 0).toInt();
stackWidget->setCurrentIndex(index);
}
void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
{
QWidget::resizeEvent(event);
}
void ConfigGadgetWidget::onAutopilotDisconnect()
{
QWidget *qwd = new DefaultAttitudeWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
qwd = new DefaultHwSettingsWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
emit autopilotDisconnected();
}
void ConfigGadgetWidget::onAutopilotConnect()
{
qDebug() << "ConfigGadgetWidget onAutopilotConnect";
// First of all, check what Board type we are talking to, and
// if necessary, remove/add tabs in the config gadget:
// qDebug() << "ConfigGadgetWidget::onAutopilotConnect";
// Check what Board type we are talking to, and if necessary, remove/add tabs in the config gadget
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
if (utilMngr) {
int board = utilMngr->getBoardModel();
if ((board & 0xff00) == 0x0400) {
// CopterControl family
QWidget *qwd = new ConfigCCAttitudeWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
qwd = new ConfigCCHWWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
ConfigTaskWidget *widget;
widget = new ConfigCCAttitudeWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
widget = new ConfigCCHWWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
} else if ((board & 0xff00) == 0x0900) {
// Revolution family
QWidget *qwd = new ConfigRevoWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
ConfigTaskWidget *widget;
widget = new ConfigRevoWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
if (board == 0x0903 || board == 0x0904) {
qwd = new ConfigRevoHWWidget(this);
widget = new ConfigRevoHWWidget(this);
} else if (board == 0x0905) {
qwd = new ConfigRevoNanoHWWidget(this);
widget = new ConfigRevoNanoHWWidget(this);
}
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
} else if ((board & 0xff00) == 0x9200) {
// Sparky2
QWidget *qwd = new ConfigRevoWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
qwd = new ConfigSparky2HWWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
ConfigTaskWidget *widget;
widget = new ConfigRevoWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
widget = new ConfigSparky2HWWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
} else {
// Unknown board
qDebug() << "Unknown board " << board;
qWarning() << "Unknown board " << board;
}
}
emit autopilotConnected();
}
void ConfigGadgetWidget::tabAboutToChange(int i, bool *proceed)
void ConfigGadgetWidget::onAutopilotDisconnect()
{
Q_UNUSED(i);
// qDebug() << "ConfigGadgetWidget::onAutopilotDiconnect";
QWidget *widget;
widget = new DefaultConfigWidget(this, tr("Attitude"));
stackWidget->replaceTab(ConfigGadgetWidget::Sensors, widget);
widget = new DefaultConfigWidget(this, tr("Hardware"));
stackWidget->replaceTab(ConfigGadgetWidget::Hardware, widget);
}
void ConfigGadgetWidget::onOPLinkConnect()
{
// qDebug() << "ConfigGadgetWidget::onOPLinkConnect";
ConfigTaskWidget *widget = new ConfigOPLinkWidget(this);
widget->bind();
stackWidget->replaceTab(ConfigGadgetWidget::OPLink, widget);
}
void ConfigGadgetWidget::onOPLinkDisconnect()
{
// qDebug() << "ConfigGadgetWidget::onOPLinkDisconnect";
QWidget *widget = new DefaultConfigWidget(this, tr("OPLink Configuration"));
stackWidget->replaceTab(ConfigGadgetWidget::OPLink, widget);
}
void ConfigGadgetWidget::tabAboutToChange(int index, bool *proceed)
{
Q_UNUSED(index);
*proceed = true;
ConfigTaskWidget *wid = qobject_cast<ConfigTaskWidget *>(stackWidget->currentWidget());
if (!wid) {
return;
}
if (wid->isDirty()) {
int ans = QMessageBox::warning(this, tr("Unsaved changes"), tr("The tab you are leaving has unsaved changes,"
int ans = QMessageBox::warning(this, tr("Unsaved changes"), tr("The tab you are leaving has unsaved changes, "
"if you proceed they will be lost.\n"
"Do you still want to proceed?"), QMessageBox::Yes, QMessageBox::No);
if (ans == QMessageBox::No) {
@ -236,35 +287,3 @@ void ConfigGadgetWidget::tabAboutToChange(int i, bool *proceed)
}
}
}
/*!
\brief Called by updates to @OPLinkStatus
*/
void ConfigGadgetWidget::updateOPLinkStatus(UAVObject *)
{
// Restart the disconnection timer.
oplinkTimeout->start(5000);
if (!oplinkConnected) {
qDebug() << "ConfigGadgetWidget onOPLinkConnect";
QIcon *icon = new QIcon();
icon->addFile(":/configgadget/images/pipx-normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/pipx-selected.png", QSize(), QIcon::Selected, QIcon::Off);
QWidget *qwd = new ConfigOPLinkWidget(this);
stackWidget->insertTab(ConfigGadgetWidget::oplink, qwd, *icon, QString("OPLink"));
oplinkConnected = true;
}
}
void ConfigGadgetWidget::onOPLinkDisconnect()
{
qDebug() << "ConfigGadgetWidget onOPLinkDisconnect";
oplinkTimeout->stop();
oplinkConnected = false;
if (stackWidget->currentIndex() == ConfigGadgetWidget::oplink) {
stackWidget->setCurrentIndex(0);
}
stackWidget->removeTab(ConfigGadgetWidget::oplink);
}

51
ground/gcs/src/plugins/config/configgadgetwidget.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configgadgetwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -27,53 +28,39 @@
#ifndef CONFIGGADGETWIDGET_H
#define CONFIGGADGETWIDGET_H
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "objectpersistence.h"
#include "utils/pathutils.h"
#include "utils/mytabbedstackwidget.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include <QWidget>
#include <QList>
#include <QTextBrowser>
#include <QMessageBox>
class QTextBrowser;
class QSettings;
class MyTabbedStackWidget;
class ConfigGadgetWidget : public QWidget {
Q_OBJECT
QTextBrowser *help;
public:
enum WidgetTabs { Hardware = 0, Aircraft, Input, Output, Sensors, Stabilization, CameraStabilization, TxPid, OPLink };
ConfigGadgetWidget(QWidget *parent = 0);
~ConfigGadgetWidget();
enum widgetTabs { hardware = 0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, oplink };
void startInputWizard();
public slots:
void onAutopilotConnect();
void onAutopilotDisconnect();
void tabAboutToChange(int i, bool *);
void updateOPLinkStatus(UAVObject *object);
void onOPLinkDisconnect();
signals:
void autopilotConnected();
void autopilotDisconnected();
void oplinkConnect();
void oplinkDisconnect();
void saveState(QSettings *settings);
void restoreState(QSettings *settings);
protected:
void resizeEvent(QResizeEvent *event);
private slots:
void onAutopilotConnect();
void onAutopilotDisconnect();
void onOPLinkConnect();
void onOPLinkDisconnect();
void tabAboutToChange(int index, bool *proceed);
private:
UAVDataObject *oplinkStatusObj;
// A timer that timesout the connction to the OPLink.
QTimer *oplinkTimeout;
bool oplinkConnected;
MyTabbedStackWidget *stackWidget;
QTextBrowser *help;
};
#endif // CONFIGGADGETWIDGET_H

80
ground/gcs/src/plugins/config/configinputwidget.cpp
View File

@ -8,7 +8,7 @@
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
* @brief Servo input configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -28,11 +28,6 @@
#include "configinputwidget.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <utils/stylehelper.h>
#include <uavobjecthelper.h>
#include "ui_input.h"
#include "ui_input_wizard.h"
@ -42,18 +37,15 @@
#include "failsafechannelform.h"
#include "ui_failsafechannelform.h"
#include <uavobjectmanager.h>
#include <uavobjecthelper.h>
#include <utils/stylehelper.h>
#include <systemalarms.h>
#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QDesktopServices>
#include <QUrl>
#include <QMessageBox>
#include <QEventLoop>
#include <QGraphicsSvgItem>
#include <QSvgRenderer>
@ -86,6 +78,16 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
accessoryDesiredObj3(NULL),
rssiDesiredObj4(NULL)
{
ui = new Ui_InputWidget();
ui->setupUi(this);
// must be done before auto binding !
setWikiURL("Input+Configuration");
addAutoBindings();
connect(this, SIGNAL(enableControlsChanged(bool)), this, SLOT(enableControlsChanged(bool)));
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
flightModeSettingsObj = FlightModeSettings::GetInstance(getObjectManager());
@ -103,22 +105,6 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
// The other instances are populated lazily.
Q_ASSERT(accessoryDesiredObj0);
ui = new Ui_InputWidget();
ui->setupUi(this);
wizardUi = new Ui_InputWizardWidget();
wizardUi->setupUi(ui->wizard);
addApplySaveButtons(ui->saveRCInputToRAM, ui->saveRCInputToSD);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
ui->saveRCInputToRAM->setVisible(false);
}
addApplySaveButtons(ui->saveRCInputToRAM, ui->saveRCInputToSD);
// Generate the rows of buttons in the input channel form GUI
quint32 index = 0;
quint32 indexRT = 0;
@ -213,10 +199,6 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
connect(ui->stackedWidget, SIGNAL(currentChanged(int)), this, SLOT(disableWizardButton(int)));
connect(ui->runCalibration, SIGNAL(toggled(bool)), this, SLOT(simpleCalibration(bool)));
connect(wizardUi->wzNext, SIGNAL(clicked()), this, SLOT(wzNext()));
connect(wizardUi->wzCancel, SIGNAL(clicked()), this, SLOT(wzCancel()));
connect(wizardUi->wzBack, SIGNAL(clicked()), this, SLOT(wzBack()));
connect(ReceiverActivity::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateReceiverActivityStatus()));
ui->receiverActivityStatus->setStyleSheet("QLabel { background-color: darkGreen; color: rgb(255, 255, 255); \
border: 1px solid grey; border-radius: 5; margin:1px; font:bold;}");
@ -268,19 +250,17 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
connect(ui->failsafeFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(failsafeFlightModeChanged(int)));
connect(ui->failsafeFlightModeCb, SIGNAL(toggled(bool)), this, SLOT(failsafeFlightModeCbToggled(bool)));
connect(this, SIGNAL(enableControlsChanged(bool)), this, SLOT(enableControlsChanged(bool)));
addWidget(ui->configurationWizard);
addWidget(ui->runCalibration);
addWidget(ui->failsafeFlightModeCb);
autoLoadWidgets();
// Wizard
wizardUi = new Ui_InputWizardWidget();
wizardUi->setupUi(ui->wizard);
populateWidgets();
refreshWidgetsValues();
// Connect the help button
connect(ui->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
connect(wizardUi->wzNext, SIGNAL(clicked()), this, SLOT(wzNext()));
connect(wizardUi->wzCancel, SIGNAL(clicked()), this, SLOT(wzCancel()));
connect(wizardUi->wzBack, SIGNAL(clicked()), this, SLOT(wzBack()));
wizardUi->graphicsView->setScene(new QGraphicsScene(this));
wizardUi->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
@ -461,8 +441,6 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
groundChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0;
updateEnableControls();
}
void ConfigInputWidget::buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits)
@ -514,12 +492,6 @@ void ConfigInputWidget::resizeEvent(QResizeEvent *event)
wizardUi->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio);
}
void ConfigInputWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Input+Configuration"),
QUrl::StrictMode));
}
void ConfigInputWidget::goToWizard()
{
QMessageBox msgBox;
@ -1975,8 +1947,8 @@ void ConfigInputWidget::simpleCalibration(bool enable)
{
if (enable) {
ui->configurationWizard->setEnabled(false);
ui->saveRCInputToRAM->setEnabled(false);
ui->saveRCInputToSD->setEnabled(false);
ui->applyButton->setEnabled(false);
ui->saveButton->setEnabled(false);
ui->runCalibration->setText(tr("Stop Manual Calibration"));
throttleError = false;
@ -2053,8 +2025,8 @@ void ConfigInputWidget::simpleCalibration(bool enable)
actuatorSettingsObj->setData(memento.actuatorSettingsData);
ui->configurationWizard->setEnabled(true);
ui->saveRCInputToRAM->setEnabled(true);
ui->saveRCInputToSD->setEnabled(true);
ui->applyButton->setEnabled(true);
ui->saveButton->setEnabled(true);
ui->runCalibration->setText(tr("Start Manual Calibration"));
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration()));
@ -2210,5 +2182,5 @@ void ConfigInputWidget::failsafeFlightModeCbToggled(bool checked)
void ConfigInputWidget::enableControlsChanged(bool enabled)
{
ui->failsafeFlightMode->setEnabled(enabled && ui->failsafeFlightMode->currentIndex() != -1);
ui->failsafeFlightMode->setEnabled(enabled && (ui->failsafeFlightMode->currentIndex() != -1));
}

6
ground/gcs/src/plugins/config/configinputwidget.h
View File

@ -8,7 +8,7 @@
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Servo input/output configuration panel for the config gadget
* @brief Servo input configuration panel for the config gadget
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -29,8 +29,7 @@
#define CONFIGINPUTWIDGET_H
#include "uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "manualcontrolcommand.h"
@ -213,7 +212,6 @@ private slots:
void wzCancel();
void goToWizard();
void disableWizardButton(int);
void openHelp();
void identifyControls();
void identifyLimits();
void moveTxControls();

316
ground/gcs/src/plugins/config/configoplinkwidget.cpp
View File

@ -8,7 +8,7 @@
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief The Configuration Gadget used to configure the OPLink and Revo modem
* @brief The Configuration Gadget used to configure the OPLink, Revo and Sparky2 modems
***************************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -30,14 +30,13 @@
#include "ui_oplink.h"
#include <coreplugin/generalsettings.h>
#include <uavobjectmanager.h>
#include <uavobjectutilmanager.h>
#include <oplinksettings.h>
#include <oplinkstatus.h>
#include <QMessageBox>
#include <QDateTime>
#include <QDebug>
// Channel range and Frequency display
static const int MAX_CHANNEL_NUM = 250;
@ -45,40 +44,45 @@ static const int MIN_CHANNEL_RANGE = 10;
static const float FIRST_FREQUENCY = 430.000;
static const float FREQUENCY_STEP = 0.040;
ConfigOPLinkWidget::ConfigOPLinkWidget(QWidget *parent) : ConfigTaskWidget(parent)
ConfigOPLinkWidget::ConfigOPLinkWidget(QWidget *parent) : ConfigTaskWidget(parent, false), statusUpdated(false)
{
m_oplink = new Ui_OPLinkWidget();
m_oplink->setupUi(this);
// Connect to the OPLinkStatus object updates
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
oplinkStatusObj = dynamic_cast<UAVDataObject *>(objManager->getObject("OPLinkStatus"));
// must be done before auto binding !
setWikiURL("OPLink+Configuration");
addAutoBindings();
disableMouseWheelEvents();
connect(this, SIGNAL(connected()), this, SLOT(connected()));
oplinkStatusObj = dynamic_cast<OPLinkStatus *>(getObject("OPLinkStatus"));
Q_ASSERT(oplinkStatusObj);
connect(oplinkStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateStatus(UAVObject *)));
// Connect to the OPLinkSettings object updates
oplinkSettingsObj = dynamic_cast<OPLinkSettings *>(objManager->getObject("OPLinkSettings"));
oplinkSettingsObj = dynamic_cast<OPLinkSettings *>(getObject("OPLinkSettings"));
Q_ASSERT(oplinkSettingsObj);
connect(oplinkSettingsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateSettings(UAVObject *)));
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_oplink->Apply->setVisible(false);
}
addApplySaveButtons(m_oplink->Apply, m_oplink->Save);
addWidget(m_oplink->FirmwareVersion);
addWidget(m_oplink->SerialNumber);
addWidget(m_oplink->MinFreq);
addWidget(m_oplink->MaxFreq);
addWidget(m_oplink->UnbindButton);
addWidget(m_oplink->PairSignalStrengthBar1);
addWidget(m_oplink->PairSignalStrengthLabel1);
addWidgetBinding("OPLinkSettings", "Protocol", m_oplink->Protocol);
addWidgetBinding("OPLinkSettings", "LinkType", m_oplink->LinkType);
addWidgetBinding("OPLinkSettings", "CoordID", m_oplink->CoordID);
addWidgetBinding("OPLinkSettings", "CustomDeviceID", m_oplink->CustomDeviceID);
addWidgetBinding("OPLinkSettings", "MinChannel", m_oplink->MinimumChannel);
addWidgetBinding("OPLinkSettings", "MaxChannel", m_oplink->MaximumChannel);
addWidgetBinding("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower);
addWidgetBinding("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed);
addWidgetBinding("OPLinkSettings", "MainPort", m_oplink->MainPort);
addWidgetBinding("OPLinkSettings", "FlexiPort", m_oplink->FlexiPort);
addWidgetBinding("OPLinkSettings", "VCPPort", m_oplink->VCPPort);
addWidgetBinding("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower);
addWidgetBinding("OPLinkSettings", "MinChannel", m_oplink->MinimumChannel);
addWidgetBinding("OPLinkSettings", "MaxChannel", m_oplink->MaximumChannel);
addWidgetBinding("OPLinkSettings", "CoordID", m_oplink->CoordID);
addWidgetBinding("OPLinkSettings", "Protocol", m_oplink->Protocol);
addWidgetBinding("OPLinkSettings", "LinkType", m_oplink->LinkType);
addWidgetBinding("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed);
addWidgetBinding("OPLinkSettings", "CustomDeviceID", m_oplink->CustomDeviceID);
addWidgetBinding("OPLinkStatus", "DeviceID", m_oplink->DeviceID);
addWidgetBinding("OPLinkStatus", "RxGood", m_oplink->Good);
@ -101,12 +105,14 @@ ConfigOPLinkWidget::ConfigOPLinkWidget(QWidget *parent) : ConfigTaskWidget(paren
addWidgetBinding("OPLinkStatus", "RXPacketRate", m_oplink->RXPacketRate);
addWidgetBinding("OPLinkStatus", "TXPacketRate", m_oplink->TXPacketRate);
// initially hide port combo boxes
setPortsVisible(false);
// Connect the selection changed signals.
connect(m_oplink->Protocol, SIGNAL(currentIndexChanged(int)), this, SLOT(protocolChanged()));
connect(m_oplink->LinkType, SIGNAL(currentIndexChanged(int)), this, SLOT(linkTypeChanged()));
connect(m_oplink->MinimumChannel, SIGNAL(valueChanged(int)), this, SLOT(minChannelChanged()));
connect(m_oplink->MaximumChannel, SIGNAL(valueChanged(int)), this, SLOT(maxChannelChanged()));
connect(m_oplink->CustomDeviceID, SIGNAL(editingFinished()), this, SLOT(updateCustomDeviceID()));
connect(m_oplink->MainPort, SIGNAL(currentIndexChanged(int)), this, SLOT(mainPortChanged()));
connect(m_oplink->FlexiPort, SIGNAL(currentIndexChanged(int)), this, SLOT(flexiPortChanged()));
connect(m_oplink->VCPPort, SIGNAL(currentIndexChanged(int)), this, SLOT(vcpPortChanged()));
@ -114,164 +120,144 @@ ConfigOPLinkWidget::ConfigOPLinkWidget(QWidget *parent) : ConfigTaskWidget(paren
// Connect the Unbind button
connect(m_oplink->UnbindButton, SIGNAL(released()), this, SLOT(unbind()));
m_oplink->CustomDeviceID->setInputMask("HHHHHHHH");
m_oplink->CoordID->setInputMask("HHHHHHHH");
// all upper case hex
m_oplink->CustomDeviceID->setInputMask(">HHHHHHHH");
m_oplink->CustomDeviceID->setPlaceholderText("AutoGen");
m_oplink->CoordID->setInputMask(">HHHHHHHH");
m_oplink->MinimumChannel->setKeyboardTracking(false);
m_oplink->MaximumChannel->setKeyboardTracking(false);
m_oplink->MaximumChannel->setMaximum(MAX_CHANNEL_NUM);
m_oplink->MinimumChannel->setMaximum(MAX_CHANNEL_NUM - MIN_CHANNEL_RANGE);
// Request and update of the setting object.
settingsUpdated = false;
setWikiURL("OPLink+Configuration");
autoLoadWidgets();
disableMouseWheelEvents();
updateEnableControls();
}
ConfigOPLinkWidget::~ConfigOPLinkWidget()
{}
/*!
\brief Called by updates to @OPLinkStatus
*/
void ConfigOPLinkWidget::updateStatus(UAVObject *object)
void ConfigOPLinkWidget::connected()
{
// qDebug() << "ConfigOPLinkWidget::connected()";
statusUpdated = false;
// Request and update of the setting object if we haven't received it yet.
if (!settingsUpdated) {
oplinkSettingsObj->requestUpdate();
// this is only really needed for OPLM
oplinkSettingsObj->requestUpdate();
updateSettings();
}
void ConfigOPLinkWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
// qDebug() << "ConfigOPLinkWidget::refreshWidgetsValuesImpl()" << obj;
if (obj == oplinkStatusObj) {
updateStatus();
} else if (obj == oplinkSettingsObj) {
updateSettings();
}
}
void ConfigOPLinkWidget::updateStatus()
{
// qDebug() << "ConfigOPLinkWidget::updateStatus";
// Update the link state
UAVObjectField *linkField = object->getField("LinkState");
UAVObjectField *linkField = oplinkStatusObj->getField("LinkState");
m_oplink->LinkState->setText(linkField->getValue().toString());
bool linkConnected = (linkField->getValue() == linkField->getOptions().at(OPLinkStatus::LINKSTATE_CONNECTED));
bool linkConnected = (oplinkStatusObj->linkState() == OPLinkStatus_LinkState::Connected);
m_oplink->PairSignalStrengthBar1->setValue(linkConnected ? m_oplink->RSSI->text().toInt() : -127);
m_oplink->PairSignalStrengthLabel1->setText(QString("%1dB").arg(m_oplink->PairSignalStrengthBar1->value()));
// Enable components based on the board type connected.
switch (oplinkStatusObj->boardType()) {
case 0x09: // Revolution, DiscoveryF4Bare, RevoNano, RevoProto
case 0x92: // Sparky2
setPortsVisible(false);
break;
case 0x03: // OPLinkMini
setPortsVisible(true);
break;
default:
// This shouldn't happen.
break;
}
if (!statusUpdated) {
statusUpdated = true;
// update static info
updateInfo();
}
}
void ConfigOPLinkWidget::setPortsVisible(bool visible)
{
m_oplink->MainPort->setVisible(visible);
m_oplink->MainPortLabel->setVisible(visible);
m_oplink->FlexiPort->setVisible(visible);
m_oplink->FlexiPortLabel->setVisible(visible);
m_oplink->VCPPort->setVisible(visible);
m_oplink->VCPPortLabel->setVisible(visible);
}
void ConfigOPLinkWidget::updateInfo()
{
// qDebug() << "ConfigOPLinkWidget::updateInfo";
// Update the Description field
// TODO use UAVObjectUtilManager::descriptionToStructure()
UAVObjectField *descField = object->getField("Description");
if (descField->getValue(0) != QChar(255)) {
/*
* This looks like a binary with a description at the end:
* 4 bytes: header: "OpFw".
* 4 bytes: GIT commit tag (short version of SHA1).
* 4 bytes: Unix timestamp of compile time.
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
* 20 bytes: SHA1 sum of the firmware.
* 20 bytes: SHA1 sum of the uavo definitions.
* 20 bytes: free for now.
*/
char buf[OPLinkStatus::DESCRIPTION_NUMELEM];
for (unsigned int i = 0; i < 26; ++i) {
buf[i] = descField->getValue(i + 14).toChar().toLatin1();
}
buf[26] = '\0';
QString descstr(buf);
quint32 gitDate = descField->getValue(11).toChar().toLatin1() & 0xFF;
for (int i = 1; i < 4; i++) {
gitDate = gitDate << 8;
gitDate += descField->getValue(11 - i).toChar().toLatin1() & 0xFF;
}
QString date = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyy-MM-dd HH:mm");
m_oplink->FirmwareVersion->setText(descstr + " " + date);
// extract desc into byte array
OPLinkStatus::DataFields oplinkStatusData = oplinkStatusObj->getData();
quint8 *desc = oplinkStatusData.Description;
QByteArray ba;
for (unsigned int i = 0; i < OPLinkStatus::DESCRIPTION_NUMELEM; i++) {
ba.append(desc[i]);
}
// parse byte array into device descriptor
deviceDescriptorStruct dds;
UAVObjectUtilManager::descriptionToStructure(ba, dds);
// update UI
if (!dds.gitTag.isEmpty()) {
m_oplink->FirmwareVersion->setText(dds.gitTag + " " + dds.gitDate);
} else {
m_oplink->FirmwareVersion->setText(tr("Unknown"));
}
// Update the serial number field
UAVObjectField *serialField = object->getField("CPUSerial");
char buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2 + 1];
for (unsigned int i = 0; i < OPLinkStatus::CPUSERIAL_NUMELEM; ++i) {
unsigned char val = serialField->getValue(i).toUInt() >> 4;
unsigned char val = oplinkStatusObj->cpuSerial(i) >> 4;
buf[i * 2] = ((val < 10) ? '0' : '7') + val;
val = serialField->getValue(i).toUInt() & 0xf;
val = oplinkStatusObj->cpuSerial(i) & 0xf;
buf[i * 2 + 1] = ((val < 10) ? '0' : '7') + val;
}
buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2] = '\0';
m_oplink->SerialNumber->setText(buf);
updateEnableControls();
}
/*!
\brief Called by updates to @OPLinkSettings
*/
void ConfigOPLinkWidget::updateSettings(UAVObject *object)
void ConfigOPLinkWidget::updateSettings()
{
Q_UNUSED(object);
// qDebug() << "ConfigOPLinkWidget::updateSettings";
if (!settingsUpdated) {
settingsUpdated = true;
// Enable components based on the board type connected.
UAVObjectField *board_type_field = oplinkStatusObj->getField("BoardType");
switch (board_type_field->getValue().toInt()) {
case 0x09: // Revolution, DiscoveryF4Bare, RevoNano, RevoProto
case 0x92: // Sparky2
m_oplink->MainPort->setVisible(false);
m_oplink->MainPortLabel->setVisible(false);
m_oplink->FlexiPort->setVisible(false);
m_oplink->FlexiPortLabel->setVisible(false);
m_oplink->VCPPort->setVisible(false);
m_oplink->VCPPortLabel->setVisible(false);
m_oplink->LinkType->setEnabled(true);
break;
case 0x03: // OPLinkMini
m_oplink->MainPort->setVisible(true);
m_oplink->MainPortLabel->setVisible(true);
m_oplink->FlexiPort->setVisible(true);
m_oplink->FlexiPortLabel->setVisible(true);
m_oplink->VCPPort->setVisible(true);
m_oplink->VCPPortLabel->setVisible(true);
m_oplink->LinkType->setEnabled(true);
break;
default:
// This shouldn't happen.
break;
}
updateEnableControls();
}
}
void ConfigOPLinkWidget::updateEnableControls()
{
enableControls(true);
updateCustomDeviceID();
updateCoordID();
protocolChanged();
}
void ConfigOPLinkWidget::disconnected()
{
if (settingsUpdated) {
settingsUpdated = false;
}
}
void ConfigOPLinkWidget::protocolChanged()
{
bool is_enabled = !isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_DISABLED);
bool is_coordinator = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPLINKCOORDINATOR);
bool is_receiver = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPLINKRECEIVER);
bool is_openlrs = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPENLRS);
bool is_ppm_only = isComboboxOptionSelected(m_oplink->LinkType, OPLinkSettings::LINKTYPE_CONTROL);
bool is_oplm = m_oplink->MainPort->isVisible();
bool is_bound = (m_oplink->CoordID->text() != "");
m_oplink->ComSpeed->setEnabled(!is_ppm_only && !is_openlrs && is_enabled);
m_oplink->CoordID->setEnabled(is_receiver & is_enabled);
m_oplink->UnbindButton->setEnabled(is_bound && !is_coordinator && is_enabled);
m_oplink->ComSpeed->setEnabled(is_enabled && !is_ppm_only && !is_openlrs);
m_oplink->CoordID->setEnabled(is_enabled && is_receiver);
m_oplink->UnbindButton->setEnabled(is_enabled && is_bound && !is_coordinator);
m_oplink->CustomDeviceID->setEnabled(is_coordinator);
m_oplink->MinimumChannel->setEnabled(is_receiver || is_coordinator);
m_oplink->MaximumChannel->setEnabled(is_receiver || is_coordinator);
m_oplink->MainPort->setEnabled(is_oplm);
m_oplink->FlexiPort->setEnabled(is_oplm);
m_oplink->VCPPort->setEnabled(is_oplm);
enableComboBoxOptionItem(m_oplink->VCPPort, OPLinkSettings::VCPPORT_SERIAL, (is_receiver || is_coordinator));
@ -283,9 +269,14 @@ void ConfigOPLinkWidget::protocolChanged()
m_oplink->MaxRFTxPower->setEnabled(is_enabled && !is_openlrs);
}
void ConfigOPLinkWidget::protocolChanged()
{
updateSettings();
}
void ConfigOPLinkWidget::linkTypeChanged()
{
protocolChanged();
updateSettings();
}
void ConfigOPLinkWidget::minChannelChanged()
@ -395,45 +386,18 @@ void ConfigOPLinkWidget::vcpPortChanged()
}
}
void ConfigOPLinkWidget::updateCoordID()
{
bool coordinatorNotSet = (m_oplink->CoordID->text() == "0");
if (settingsUpdated && coordinatorNotSet) {
m_oplink->CoordID->clear();
}
}
void ConfigOPLinkWidget::updateCustomDeviceID()
{
bool customDeviceIDNotSet = (m_oplink->CustomDeviceID->text() == "0");
if (settingsUpdated && customDeviceIDNotSet) {
m_oplink->CustomDeviceID->clear();
m_oplink->CustomDeviceID->setPlaceholderText("AutoGen");
}
}
void ConfigOPLinkWidget::unbind()
{
if (settingsUpdated) {
// Clear the coordinator ID
oplinkSettingsObj->getField("CoordID")->setValue(0);
m_oplink->CoordID->setText("0");
// Clear the coordinator ID
oplinkSettingsObj->setCoordID(0);
m_oplink->CoordID->clear();
// Clear the OpenLRS settings
oplinkSettingsObj->getField("Version")->setValue(0);
oplinkSettingsObj->getField("SerialBaudrate")->setValue(0);
oplinkSettingsObj->getField("RFFrequency")->setValue(0);
oplinkSettingsObj->getField("RFPower")->setValue(0);
oplinkSettingsObj->getField("RFChannelSpacing")->setValue(0);
oplinkSettingsObj->getField("ModemParams")->setValue(0);
oplinkSettingsObj->getField("Flags")->setValue(0);
}
// Clear the OpenLRS settings
oplinkSettingsObj->setVersion((quint16)0);
oplinkSettingsObj->setSerialBaudrate(0);
oplinkSettingsObj->setRFFrequency(0);
oplinkSettingsObj->setRFPower((quint16)0);
oplinkSettingsObj->setRFChannelSpacing((quint16)0);
oplinkSettingsObj->setModemParams((quint16)0);
oplinkSettingsObj->setFlags((quint16)0);
}
/**
@}
@}
*/

38
ground/gcs/src/plugins/config/configoplinkwidget.h
View File

@ -8,7 +8,7 @@
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief The Configuration Gadget used to configure the OPLink and Revo modem
* @brief The Configuration Gadget used to configure the OPLink, Revo and Sparky2 modems
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -30,7 +30,8 @@
#include "configtaskwidget.h"
#include "oplinksettings.h"
class OPLinkStatus;
class OPLinkSettings;
class Ui_OPLinkWidget;
@ -41,38 +42,39 @@ public:
ConfigOPLinkWidget(QWidget *parent = 0);
~ConfigOPLinkWidget();
public slots:
void updateStatus(UAVObject *object1);
void updateSettings(UAVObject *object1);
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
private:
Ui_OPLinkWidget *m_oplink;
// The OPLink status UAVObject
UAVDataObject *oplinkStatusObj;
// The OPLink ssettins UAVObject
OPLinkStatus *oplinkStatusObj;
OPLinkSettings *oplinkSettingsObj;
// Are the settings current?
bool settingsUpdated;
// Is the status current?
bool statusUpdated;
protected:
void updateEnableControls();
void updateStatus();
void updateInfo();
void updateSettings();
void setPortsVisible(bool visible);
private slots:
void disconnected();
void linkTypeChanged();
void connected();
void protocolChanged();
void linkTypeChanged();
void minChannelChanged();
void maxChannelChanged();
void updateCoordID();
void updateCustomDeviceID();
void unbind();
void channelChanged(bool isMax);
void mainPortChanged();
void flexiPortChanged();
void vcpPortChanged();
void unbind();
};
#endif // CONFIGOPLINKWIDGET_H

44
ground/gcs/src/plugins/config/configoutputwidget.cpp
View File

@ -36,7 +36,6 @@
#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjecthelper.h>
#include "mixersettings.h"
@ -50,35 +49,27 @@
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QMessageBox>
#include <QDesktopServices>
#include <QUrl>
ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_ui = new Ui_OutputWidget();
m_ui->setupUi(this);
// must be done before auto binding !
setWikiURL("Output+Configuration");
addAutoBindings();
m_ui->gvFrame->setVisible(false);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_ui->saveRCOutputToRAM->setVisible(false);
}
UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
connect(m_ui->channelOutTest, SIGNAL(clicked(bool)), this, SLOT(runChannelTests(bool)));
// Configure the task widget
// Connect the help button
connect(m_ui->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addApplySaveButtons(m_ui->saveRCOutputToRAM, m_ui->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
@ -99,7 +90,6 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
addWidget(form->ui->actuatorLink);
}
// Associate the buttons with their UAVO fields
addWidget(m_ui->spinningArmed);
connect(m_ui->spinningArmed, SIGNAL(clicked(bool)), this, SLOT(updateSpinStabilizeCheckComboBoxes()));
@ -137,12 +127,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
connect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
// TODO why do we do that ?
disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
populateWidgets();
refreshWidgetsValues();
updateEnableControls();
}
ConfigOutputWidget::~ConfigOutputWidget()
@ -314,11 +300,9 @@ void ConfigOutputWidget::setColor(QWidget *widget, const QColor color)
/**
Request the current config from the board (RC Output)
*/
void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
void ConfigOutputWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
bool dirty = isDirty();
ConfigTaskWidget::refreshWidgetsValues(obj);
Q_UNUSED(obj);
// Get Actuator Settings
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
@ -422,17 +406,13 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
}
updateSpinStabilizeCheckComboBoxes();
setDirty(dirty);
}
/**
* Sends the config to the board, without saving to the SD card (RC Output)
*/
void ConfigOutputWidget::updateObjectsFromWidgets()
void ConfigOutputWidget::updateObjectsFromWidgetsImpl()
{
ConfigTaskWidget::updateObjectsFromWidgets();
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
@ -500,12 +480,6 @@ void ConfigOutputWidget::updateAlwaysStabilizeStatus()
}
}
void ConfigOutputWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Output+Configuration"),
QUrl::StrictMode));
}
void ConfigOutputWidget::onBankTypeChange()
{
QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());

6
ground/gcs/src/plugins/config/configoutputwidget.h
View File

@ -89,6 +89,9 @@ protected:
void enableControls(bool enable);
void setWarning(QString message);
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
Ui_OutputWidget *m_ui;
QList<QSlider> m_sliders;
@ -107,11 +110,8 @@ private slots:
void updateSpinStabilizeCheckComboBoxes();
void updateAlwaysStabilizeStatus();
void stopTests();
virtual void refreshWidgetsValues(UAVObject *obj = NULL);
void updateObjectsFromWidgets();
void runChannelTests(bool state);
void sendChannelTest(int index, int value);
void openHelp();
void onBankTypeChange();
};

15
ground/gcs/src/plugins/config/configplugin.cpp
View File

@ -1,8 +1,9 @@
/**
******************************************************************************
*
* @file configplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configplugin.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -25,12 +26,15 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "configplugin.h"
#include "configgadgetfactory.h"
#include <extensionsystem/pluginmanager.h>
#include <uavobjects/uavobjectmanager.h>
#include <QtPlugin>
#include <QStringList>
#include <QTimer>
#include <extensionsystem/pluginmanager.h>
#include "objectpersistence.h"
ConfigPlugin::ConfigPlugin()
{
@ -46,7 +50,8 @@ bool ConfigPlugin::initialize(const QStringList & args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
cf = new ConfigGadgetFactory(this);
ConfigGadgetFactory *cf = new ConfigGadgetFactory(this);
addAutoReleasedObject(cf);
return true;

17
ground/gcs/src/plugins/config/configplugin.h
View File

@ -1,8 +1,9 @@
/**
******************************************************************************
*
* @file configgadgetplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configplugin.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -28,14 +29,11 @@
#define CONFIGPLUGIN_H
#include <extensionsystem/iplugin.h>
#include <coreplugin/icore.h>
#include <coreplugin/coreconstants.h>
#include <coreplugin/actionmanager/actionmanager.h>
#include "objectpersistence.h"
#include <QMessageBox>
#include <QString>
#include <QStringList>
class ConfigGadgetFactory;
class UAVObjectManager;
class ConfigPlugin : public ExtensionSystem::IPlugin {
Q_OBJECT
@ -49,9 +47,6 @@ public:
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString *errorString);
void shutdown();
private:
ConfigGadgetFactory *cf;
};
#endif // CONFIGPLUGIN_H

60
ground/gcs/src/plugins/config/configrevohwwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configrevohwwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
@ -29,30 +29,21 @@
#include "ui_configrevohwwidget.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjecthelper.h>
#include "hwsettings.h"
#include <QDebug>
#include <QDesktopServices>
#include <QUrl>
#include <QMessageBox>
ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(parent), m_refreshing(true)
ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_ui = new Ui_RevoHWWidget();
m_ui->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_ui->saveTelemetryToRAM->setEnabled(false);
m_ui->saveTelemetryToRAM->setVisible(false);
}
// must be done before auto binding !
setWikiURL("Revolution+Configuration");
addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD);
addAutoBindings();
addUAVObject("HwSettings");
addWidgetBinding("HwSettings", "RM_FlexiPort", m_ui->cbFlexi);
addWidgetBinding("HwSettings", "RM_MainPort", m_ui->cbMain);
@ -75,14 +66,7 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbFlexiGPSProtocol);
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbRcvrGPSProtocol);
connect(m_ui->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
setupCustomCombos();
enableControls(true);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
m_refreshing = false;
}
ConfigRevoHWWidget::~ConfigRevoHWWidget()
@ -104,37 +88,29 @@ void ConfigRevoHWWidget::setupCustomCombos()
connect(m_ui->cbRcvr, SIGNAL(currentIndexChanged(int)), this, SLOT(rcvrPortChanged(int)));
}
void ConfigRevoHWWidget::refreshWidgetsValues(UAVObject *obj)
void ConfigRevoHWWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
m_refreshing = true;
ConfigTaskWidget::refreshWidgetsValues(obj);
Q_UNUSED(obj);
usbVCPPortChanged(0);
mainPortChanged(0);
flexiPortChanged(0);
rcvrPortChanged(0);
m_refreshing = false;
}
void ConfigRevoHWWidget::updateObjectsFromWidgets()
void ConfigRevoHWWidget::updateObjectsFromWidgetsImpl()
{
ConfigTaskWidget::updateObjectsFromWidgets();
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields data = hwSettings->getData();
// If any port is configured to be GPS port, enable GPS module if it is not enabled.
// Otherwise disable GPS module.
quint8 enableModule = HwSettings::OPTIONALMODULES_DISABLED;
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_GPS)
|| isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_GPS)) {
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
} else {
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
enableModule = HwSettings::OPTIONALMODULES_ENABLED;
}
UAVObjectUpdaterHelper updateHelper;
hwSettings->setData(data, false);
updateHelper.doObjectAndWait(hwSettings);
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_GPS, enableModule);
}
void ConfigRevoHWWidget::usbVCPPortChanged(int index)
@ -488,9 +464,3 @@ void ConfigRevoHWWidget::rcvrPortChanged(int index)
break;
}
}
void ConfigRevoHWWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Revolution+Configuration"),
QUrl::StrictMode));
}

14
ground/gcs/src/plugins/config/configrevohwwidget.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configrevohwwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -42,14 +43,14 @@ public:
ConfigRevoHWWidget(QWidget *parent = 0);
~ConfigRevoHWWidget();
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
Ui_RevoHWWidget *m_ui;
bool m_refreshing;
void setupCustomCombos();
protected slots:
void refreshWidgetsValues(UAVObject *obj = NULL);
void updateObjectsFromWidgets();
void setupCustomCombos();
private slots:
void usbVCPPortChanged(int index);
@ -57,7 +58,6 @@ private slots:
void flexiPortChanged(int index);
void mainPortChanged(int index);
void rcvrPortChanged(int index);
void openHelp();
};
#endif // CONFIGREVOHWWIDGET_H

21
ground/gcs/src/plugins/config/configrevohwwidget.ui
View File

@ -121,9 +121,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-148</y>
<y>0</y>
<width>796</width>
<height>804</height>
<height>807</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
@ -548,7 +548,7 @@
<string/>
</property>
<property name="pixmap">
<pixmap resource="configgadget.qrc">:/configgadget/images/revolution_top.png</pixmap>
<pixmap>:/configgadget/images/revolution_top.png</pixmap>
</property>
<property name="scaledContents">
<bool>false</bool>
@ -739,7 +739,7 @@
</spacer>
</item>
<item>
<widget class="QPushButton" name="cchwHelp">
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -777,10 +777,13 @@
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:help</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToRAM">
<widget class="QPushButton" name="applyButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -879,10 +882,13 @@ Beware of not locking yourself out!</string>
<property name="checkable">
<bool>false</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToSD">
<widget class="QPushButton" name="saveButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -908,6 +914,9 @@ Beware of not locking yourself out!</string>
<property name="text">
<string>Save</string>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:save</string>
</property>
</widget>
</item>
</layout>

63
ground/gcs/src/plugins/config/configrevonanohwwidget.cpp
View File

@ -1,14 +1,14 @@
/**
******************************************************************************
*
* @file configrevohwwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @file configrevonanohwwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Revolution hardware configuration panel
* @brief Revolution Nano hardware configuration panel
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -29,32 +29,21 @@
#include "ui_configrevonanohwwidget.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjecthelper.h>
#include "hwsettings.h"
#include <QDebug>
#include <QDesktopServices>
#include <QUrl>
#include <QMessageBox>
ConfigRevoNanoHWWidget::ConfigRevoNanoHWWidget(QWidget *parent) : ConfigTaskWidget(parent), m_refreshing(true)
ConfigRevoNanoHWWidget::ConfigRevoNanoHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_ui = new Ui_RevoNanoHWWidget();
m_ui->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_ui->saveTelemetryToRAM->setEnabled(false);
m_ui->saveTelemetryToRAM->setVisible(false);
}
// must be done before auto binding !
setWikiURL("Revo+Nano+Configuration");
addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD);
addAutoBindings();
forceConnectedState();
addUAVObject("HwSettings");
addWidgetBinding("HwSettings", "RM_FlexiPort", m_ui->cbFlexi);
addWidgetBinding("HwSettings", "RM_MainPort", m_ui->cbMain);
@ -73,13 +62,7 @@ ConfigRevoNanoHWWidget::ConfigRevoNanoHWWidget(QWidget *parent) : ConfigTaskWidg
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbMainGPSProtocol);
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbFlexiGPSProtocol);
connect(m_ui->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
setupCustomCombos();
enableControls(true);
populateWidgets();
refreshWidgetsValues();
setDirty(false);
m_refreshing = false;
}
ConfigRevoNanoHWWidget::~ConfigRevoNanoHWWidget()
@ -97,37 +80,29 @@ void ConfigRevoNanoHWWidget::setupCustomCombos()
connect(m_ui->cbRcvr, SIGNAL(currentIndexChanged(int)), this, SLOT(rcvrPortChanged(int)));
}
void ConfigRevoNanoHWWidget::refreshWidgetsValues(UAVObject *obj)
void ConfigRevoNanoHWWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
m_refreshing = true;
ConfigTaskWidget::refreshWidgetsValues(obj);
Q_UNUSED(obj);
usbVCPPortChanged(0);
mainPortChanged(0);
flexiPortChanged(0);
rcvrPortChanged(0);
m_refreshing = false;
}
void ConfigRevoNanoHWWidget::updateObjectsFromWidgets()
void ConfigRevoNanoHWWidget::updateObjectsFromWidgetsImpl()
{
ConfigTaskWidget::updateObjectsFromWidgets();
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields data = hwSettings->getData();
// If any port is configured to be GPS port, enable GPS module if it is not enabled.
// Otherwise disable GPS module.
quint8 enableModule = HwSettings::OPTIONALMODULES_DISABLED;
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_GPS)
|| isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_GPS)) {
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
} else {
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
enableModule = HwSettings::OPTIONALMODULES_ENABLED;
}
UAVObjectUpdaterHelper updateHelper;
hwSettings->setData(data, false);
updateHelper.doObjectAndWait(hwSettings);
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_GPS, enableModule);
}
void ConfigRevoNanoHWWidget::usbVCPPortChanged(int index)
@ -279,9 +254,3 @@ void ConfigRevoNanoHWWidget::rcvrPortChanged(int index)
Q_UNUSED(index);
/* Nano has no USART at rcvrPort */
}
void ConfigRevoNanoHWWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Revo+Nano+Configuration"),
QUrl::StrictMode));
}

16
ground/gcs/src/plugins/config/configrevonanohwwidget.h
View File

@ -1,8 +1,9 @@
/**
******************************************************************************
*
* @file configrevohwwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configrevonanohwwidget.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -42,14 +43,14 @@ public:
ConfigRevoNanoHWWidget(QWidget *parent = 0);
~ConfigRevoNanoHWWidget();
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
Ui_RevoNanoHWWidget *m_ui;
bool m_refreshing;
void setupCustomCombos();
protected slots:
void refreshWidgetsValues(UAVObject *obj = NULL);
void updateObjectsFromWidgets();
void setupCustomCombos();
private slots:
void usbVCPPortChanged(int index);
@ -57,7 +58,6 @@ private slots:
void flexiPortChanged(int index);
void mainPortChanged(int index);
void rcvrPortChanged(int index);
void openHelp();
};
#endif // CONFIGREVONANOHWWIDGET_H

17
ground/gcs/src/plugins/config/configrevonanohwwidget.ui
View File

@ -254,7 +254,7 @@
<string/>
</property>
<property name="pixmap">
<pixmap resource="configgadget.qrc">:/configgadget/images/nano_top.png</pixmap>
<pixmap>:/configgadget/images/nano_top.png</pixmap>
</property>
<property name="scaledContents">
<bool>false</bool>
@ -459,7 +459,7 @@
</spacer>
</item>
<item>
<widget class="QPushButton" name="cchwHelp">
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -497,10 +497,13 @@
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:help</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToRAM">
<widget class="QPushButton" name="applyButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -599,10 +602,13 @@ Beware of not locking yourself out!</string>
<property name="checkable">
<bool>false</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToSD">
<widget class="QPushButton" name="saveButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -628,6 +634,9 @@ Beware of not locking yourself out!</string>
<property name="text">
<string>Save</string>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:save</string>
</property>
</widget>
</item>
</layout>

64
ground/gcs/src/plugins/config/configrevowidget.cpp
View File

@ -1,7 +1,7 @@
/**
******************************************************************************
*
* @file ConfigRevoWidget.h
* @file configrevowidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
@ -29,7 +29,9 @@
#include "ui_revosensors.h"
#include <uavobjectmanager.h>
#include <uavobjecthelper.h>
#include <attitudestate.h>
#include <attitudesettings.h>
#include <revocalibration.h>
@ -38,29 +40,17 @@
#include <accelstate.h>
#include <magstate.h>
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include "assertions.h"
#include "calibration.h"
#include "calibration/calibrationutils.h"
#include "math.h"
#include <QDebug>
#include <QTimer>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QMessageBox>
#include <QThread>
#include <QErrorMessage>
#include <QDesktopServices>
#include <QUrl>
#include <math.h>
#include <iostream>
#include <math.h>
#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QThread>
// #define DEBUG
@ -78,20 +68,16 @@ public:
};
ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
ConfigTaskWidget(parent),
m_ui(new Ui_RevoSensorsWidget()),
isBoardRotationStored(false)
ConfigTaskWidget(parent), isBoardRotationStored(false)
{
m_ui = new Ui_RevoSensorsWidget();
m_ui->setupUi(this);
m_ui->tabWidget->setCurrentIndex(0);
addApplySaveButtons(m_ui->revoCalSettingsSaveRAM, m_ui->revoCalSettingsSaveSD);
// must be done before auto binding !
setWikiURL("Revo+Attitude+Configuration");
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_ui->revoCalSettingsSaveRAM->setVisible(false);
}
addAutoBindings();
// Initialization of the visual help
m_ui->calibrationVisualHelp->setScene(new QGraphicsScene(this));
@ -108,7 +94,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
addUAVObject("RevoSettings");
addUAVObject("AccelGyroSettings");
addUAVObject("AuxMagSettings");
autoLoadWidgets();
// accel calibration
m_accelCalibrationModel = new OpenPilot::SixPointCalibrationModel(this);
@ -223,16 +208,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
displayMagError = false;
// Connect the help button
connect(m_ui->attitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
populateWidgets();
enableAllCalibrations();
updateEnableControls();
forceConnectedState();
refreshWidgetsValues();
}
ConfigRevoWidget::~ConfigRevoWidget()
@ -414,9 +390,9 @@ void ConfigRevoWidget::displayTemperatureRange(float temperatureRange)
* Called by the ConfigTaskWidget parent when RevoCalibration is updated
* to update the UI
*/
void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
void ConfigRevoWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
ConfigTaskWidget::refreshWidgetsValues(object);
Q_UNUSED(obj);
m_ui->isSetCheckBox->setEnabled(false);
@ -431,10 +407,8 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
onBoardAuxMagError();
}
void ConfigRevoWidget::updateObjectsFromWidgets()
void ConfigRevoWidget::updateObjectsFromWidgetsImpl()
{
ConfigTaskWidget::updateObjectsFromWidgets();
if (m_accelCalibrationModel->dirty()) {
m_accelCalibrationModel->save();
}
@ -714,9 +688,3 @@ void ConfigRevoWidget::updateMagStatus()
m_ui->magStatusSource->setToolTip("");
}
}
void ConfigRevoWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Revo+Attitude+Configuration"),
QUrl::StrictMode));
}

17
ground/gcs/src/plugins/config/configrevowidget.h
View File

@ -1,8 +1,9 @@
/**
******************************************************************************
*
* @file configahrstwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configrevowidget.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -28,8 +29,7 @@
#define CONFIGREVOWIDGET_H
#include "configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "calibration/thermal/thermalcalibrationmodel.h"
@ -48,6 +48,10 @@ public:
ConfigRevoWidget(QWidget *parent = 0);
~ConfigRevoWidget();
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
OpenPilot::SixPointCalibrationModel *m_accelCalibrationModel;
OpenPilot::SixPointCalibrationModel *m_magCalibrationModel;
@ -83,10 +87,6 @@ private slots:
void displayTemperatureGradient(float temparetureGradient);
void displayTemperatureRange(float temparetureRange);
// ! Overriden method from the configTaskWidget to update UI
virtual void refreshWidgetsValues(UAVObject *object = NULL);
virtual void updateObjectsFromWidgets();
// Slot for clearing home location
void clearHomeLocation();
@ -101,7 +101,6 @@ private slots:
float getMagError(float mag[3]);
void updateVisualHelp();
void openHelp();
protected:
void showEvent(QShowEvent *event);

58
ground/gcs/src/plugins/config/configsparky2hwwidget.cpp
View File

@ -29,30 +29,21 @@
#include "ui_configsparky2hwwidget.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <uavobjecthelper.h>
#include "hwsettings.h"
#include <QDebug>
#include <QDesktopServices>
#include <QUrl>
#include <QMessageBox>
ConfigSparky2HWWidget::ConfigSparky2HWWidget(QWidget *parent) : ConfigTaskWidget(parent), m_refreshing(true)
ConfigSparky2HWWidget::ConfigSparky2HWWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_ui = new Ui_Sparky2HWWidget();
m_ui->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_ui->saveTelemetryToRAM->setEnabled(false);
m_ui->saveTelemetryToRAM->setVisible(false);
}
// must be done before auto binding !
setWikiURL("Sparky2+Configuration");
addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD);
addAutoBindings();
addUAVObject("HwSettings");
addWidgetBinding("HwSettings", "SPK2_FlexiPort", m_ui->cbFlexi);
addWidgetBinding("HwSettings", "SPK2_MainPort", m_ui->cbMain);
@ -72,14 +63,7 @@ ConfigSparky2HWWidget::ConfigSparky2HWWidget(QWidget *parent) : ConfigTaskWidget
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbMainGPSProtocol);
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbFlexiGPSProtocol);
connect(m_ui->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
setupCustomCombos();
enableControls(true);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
m_refreshing = false;
}
ConfigSparky2HWWidget::~ConfigSparky2HWWidget()
@ -100,36 +84,28 @@ void ConfigSparky2HWWidget::setupCustomCombos()
connect(m_ui->cbMain, SIGNAL(currentIndexChanged(int)), this, SLOT(mainPortChanged(int)));
}
void ConfigSparky2HWWidget::refreshWidgetsValues(UAVObject *obj)
void ConfigSparky2HWWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
m_refreshing = true;
ConfigTaskWidget::refreshWidgetsValues(obj);
Q_UNUSED(obj);
usbVCPPortChanged(0);
mainPortChanged(0);
flexiPortChanged(0);
m_refreshing = false;
}
void ConfigSparky2HWWidget::updateObjectsFromWidgets()
void ConfigSparky2HWWidget::updateObjectsFromWidgetsImpl()
{
ConfigTaskWidget::updateObjectsFromWidgets();
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields data = hwSettings->getData();
// If any port is configured to be GPS port, enable GPS module if it is not enabled.
// Otherwise disable GPS module.
quint8 enableModule = HwSettings::OPTIONALMODULES_DISABLED;
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_GPS)
|| isComboboxOptionSelected(m_ui->cbMain, HwSettings::SPK2_MAINPORT_GPS)) {
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
} else {
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
enableModule = HwSettings::OPTIONALMODULES_ENABLED;
}
UAVObjectUpdaterHelper updateHelper;
hwSettings->setData(data, false);
updateHelper.doObjectAndWait(hwSettings);
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_GPS, enableModule);
}
void ConfigSparky2HWWidget::usbVCPPortChanged(int index)
@ -275,9 +251,3 @@ void ConfigSparky2HWWidget::mainPortChanged(int index)
break;
}
}
void ConfigSparky2HWWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Sparky2+Configuration"),
QUrl::StrictMode));
}

11
ground/gcs/src/plugins/config/configsparky2hwwidget.h
View File

@ -43,21 +43,20 @@ public:
ConfigSparky2HWWidget(QWidget *parent = 0);
~ConfigSparky2HWWidget();
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
Ui_Sparky2HWWidget *m_ui;
bool m_refreshing;
void setupCustomCombos();
protected slots:
void refreshWidgetsValues(UAVObject *obj = NULL);
void updateObjectsFromWidgets();
void setupCustomCombos();
private slots:
void usbVCPPortChanged(int index);
void usbHIDPortChanged(int index);
void flexiPortChanged(int index);
void mainPortChanged(int index);
void openHelp();
};
#endif // CONFIGSPARKY2HWWIDGET_H

23
ground/gcs/src/plugins/config/configsparky2hwwidget.ui
View File

@ -121,9 +121,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-258</y>
<width>794</width>
<height>927</height>
<y>0</y>
<width>796</width>
<height>731</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
@ -434,7 +434,7 @@
<string/>
</property>
<property name="pixmap">
<pixmap resource="configgadget.qrc">:/configgadget/images/sparky2_top.png</pixmap>
<pixmap>:/configgadget/images/sparky2_top.png</pixmap>
</property>
<property name="scaledContents">
<bool>false</bool>
@ -555,7 +555,7 @@
</spacer>
</item>
<item>
<widget class="QPushButton" name="cchwHelp">
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -593,10 +593,13 @@
<property name="flat">
<bool>true</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:help</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToRAM">
<widget class="QPushButton" name="applyButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -695,10 +698,13 @@ Beware of not locking yourself out!</string>
<property name="checkable">
<bool>false</bool>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToSD">
<widget class="QPushButton" name="saveButton">
<property name="minimumSize">
<size>
<width>0</width>
@ -724,6 +730,9 @@ Beware of not locking yourself out!</string>
<property name="text">
<string>Save</string>
</property>
<property name="objrelation" stdset="0">
<string notr="true">button:save</string>
</property>
</widget>
</item>
</layout>

58
ground/gcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file configstabilizationwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
@ -29,11 +29,9 @@
#include "ui_stabilization.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include "uavobjectutilmanager.h"
#include <uavobjectmanager.h>
#include "objectpersistence.h"
#include "altitudeholdsettings.h"
#include "stabilizationsettings.h"
@ -45,38 +43,30 @@
#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QDesktopServices>
#include <QUrl>
#include <QList>
#include <QTabBar>
#include <QMessageBox>
#include <QToolButton>
#include <QMenu>
#include <QAction>
ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent),
boardModel(0), m_stabSettingsBankCount(0), m_currentStabSettingsBank(0)
m_stabSettingsBankCount(0), m_currentStabSettingsBank(0)
{
ui = new Ui_StabilizationWidget();
ui->setupUi(this);
// must be done before auto binding !
setWikiURL("Stabilization+Configuration");
setupExpoPlot();
setupStabBanksGUI();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
addAutoBindings();
if (!settings->useExpertMode()) {
ui->saveStabilizationToRAM_6->setVisible(false);
}
disableMouseWheelEvents();
autoLoadWidgets();
connect(this, SIGNAL(enableControlsChanged(bool)), this, SLOT(enableControlsChanged(bool)));
setupExpoPlot();
realtimeUpdates = new QTimer(this);
connect(realtimeUpdates, SIGNAL(timeout()), this, SLOT(apply()));
@ -116,12 +106,13 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
addWidget(ui->pushButton_13);
addWidget(ui->pushButton_14);
addWidget(ui->pushButton_20);
addWidget(ui->pushButton_21);
addWidget(ui->pushButton_22);
addWidget(ui->pushButton_23);
addWidget(ui->basicResponsivenessGroupBox);
addWidget(ui->basicResponsivenessCheckBox);
connect(ui->basicResponsivenessCheckBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
addWidget(ui->advancedResponsivenessGroupBox);
addWidget(ui->advancedResponsivenessCheckBox);
connect(ui->advancedResponsivenessCheckBox, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
@ -144,15 +135,12 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
addWidget(ui->thrustPIDScalingCurve);
connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
connect(this, SIGNAL(autoPilotConnected()), this, SLOT(onBoardConnected()));
addWidget(ui->expoPlot);
connect(ui->expoSpinnerRoll, SIGNAL(valueChanged(int)), this, SLOT(replotExpoRoll(int)));
connect(ui->expoSpinnerPitch, SIGNAL(valueChanged(int)), this, SLOT(replotExpoPitch(int)));
connect(ui->expoSpinnerYaw, SIGNAL(valueChanged(int)), this, SLOT(replotExpoYaw(int)));
disableMouseWheelEvents();
updateEnableControls();
ui->AltitudeHold->setEnabled(false);
}
void ConfigStabilizationWidget::setupStabBanksGUI()
@ -247,9 +235,9 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget()
// Do nothing
}
void ConfigStabilizationWidget::refreshWidgetsValues(UAVObject *o)
void ConfigStabilizationWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
ConfigTaskWidget::refreshWidgetsValues(o);
Q_UNUSED(obj);
updateThrottleCurveFromObject();
@ -269,10 +257,9 @@ void ConfigStabilizationWidget::refreshWidgetsValues(UAVObject *o)
}
}
void ConfigStabilizationWidget::updateObjectsFromWidgets()
void ConfigStabilizationWidget::updateObjectsFromWidgetsImpl()
{
updateObjectFromThrottleCurve();
ConfigTaskWidget::updateObjectsFromWidgets();
}
void ConfigStabilizationWidget::updateThrottleCurveFromObject()
@ -647,15 +634,12 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
}
}
void ConfigStabilizationWidget::onBoardConnected()
void ConfigStabilizationWidget::enableControlsChanged(bool enable)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
Q_ASSERT(utilMngr);
boardModel = utilMngr->getBoardModel();
// If Revolution/Sparky2 board enable Althold tab, otherwise disable it
ui->AltitudeHold->setEnabled(((boardModel & 0xff00) == 0x0900) || ((boardModel & 0xff00) == 0x9200));
bool enableAltitudeHold = (((boardModel() & 0xff00) == 0x0900) || ((boardModel() & 0xff00) == 0x9200));
ui->AltitudeHold->setEnabled(enable && enableAltitudeHold);
}
void ConfigStabilizationWidget::stabBankChanged(int index)
@ -687,7 +671,7 @@ void ConfigStabilizationWidget::stabBankChanged(int index)
bool ConfigStabilizationWidget::shouldObjectBeSaved(UAVObject *object)
{
// AltitudeHoldSettings should only be saved for Revolution/Sparky2 board to avoid error.
if (((boardModel & 0xff00) != 0x0900) && ((boardModel & 0xff00) != 0x9200)) {
if (((boardModel() & 0xff00) != 0x0900) && ((boardModel() & 0xff00) != 0x9200)) {
return dynamic_cast<AltitudeHoldSettings *>(object) == 0;
} else {
return true;

26
ground/gcs/src/plugins/config/configstabilizationwidget.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configstabilizationwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -28,11 +29,8 @@
#define CONFIGSTABILIZATIONWIDGET_H
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "stabilizationsettings.h"
#include "uavobject.h"
#include "qwt/src/qwt_plot_curve.h"
#include "qwt/src/qwt_plot_grid.h"
@ -51,8 +49,15 @@ class ConfigStabilizationWidget : public ConfigTaskWidget {
public:
ConfigStabilizationWidget(QWidget *parent = 0);
~ConfigStabilizationWidget();
bool shouldObjectBeSaved(UAVObject *object);
protected:
QString mapObjectName(const QString objectName);
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
Ui_StabilizationWidget *ui;
QTimer *realtimeUpdates;
@ -65,7 +70,6 @@ private:
static const int EXPO_CURVE_POINTS_COUNT = 100;
constexpr static const double EXPO_CURVE_CONSTANT = 1.01395948;
int boardModel;
int m_stabSettingsBankCount;
int m_currentStabSettingsBank;
@ -86,18 +90,12 @@ private:
void resetStabBank(int bank);
void restoreStabBank(int bank);
protected:
QString mapObjectName(const QString objectName);
protected slots:
void refreshWidgetsValues(UAVObject *o = NULL);
void updateObjectsFromWidgets();
private slots:
void enableControlsChanged(bool enable);
void realtimeUpdatesSlot(bool value);
void linkCheckBoxes(bool value);
void processLinkedWidgets(QWidget *);
void onBoardConnected();
void stabBankChanged(int index);
void resetThrottleCurveToDefault();
void throttleCurveUpdated();

95
ground/gcs/src/plugins/config/configtxpidwidget.cpp
View File

@ -30,9 +30,6 @@
#include "ui_txpid.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include "txpidsettings.h"
#include "hwsettings.h"
#include "attitudesettings.h"
@ -46,25 +43,14 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_txpid = new Ui_TxPIDWidget();
m_txpid->setupUi(this);
// must be done before auto binding !
setWikiURL("TxPID");
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_txpid->Apply->setVisible(false);
}
autoLoadWidgets();
addApplySaveButtons(m_txpid->Apply, m_txpid->Save);
// Cannot use addUAVObjectToWidgetRelation() for OptionaModules enum because
// QCheckBox returns bool (0 or -1) and this value is then set to enum instead
// or enum options
connect(HwSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
connect(m_txpid->Apply, SIGNAL(clicked()), this, SLOT(applySettings()));
connect(m_txpid->Save, SIGNAL(clicked()), this, SLOT(saveSettings()));
addAutoBindings();
connect(m_txpid->PID1, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
connect(m_txpid->PID2, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
connect(m_txpid->PID3, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
disableMouseWheelEvents();
addUAVObject("HwSettings");
addWidgetBinding("TxPIDSettings", "BankNumber", m_txpid->pidBank, 0, 1, true);
@ -94,15 +80,14 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
addWidgetBinding("TxPIDSettings", "UpdateMode", m_txpid->UpdateMode);
connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
addWidget(m_txpid->TxPIDEnable);
addWidget(m_txpid->enableAutoCalcYaw);
enableControls(false);
populateWidgets();
refreshWidgetsValues();
disableMouseWheelEvents();
connect(m_txpid->PID1, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
connect(m_txpid->PID2, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
connect(m_txpid->PID3, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
}
ConfigTxPIDWidget::~ConfigTxPIDWidget()
@ -110,6 +95,40 @@ ConfigTxPIDWidget::~ConfigTxPIDWidget()
// Do nothing
}
/*
* This overridden function refreshes widgets which have no direct relation
* to any of UAVObjects. It saves their dirty state first because update comes
* from UAVObjects, and then restores it.
*/
void ConfigTxPIDWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
Q_UNUSED(obj);
// Set module enable checkbox from OptionalModules UAVObject item.
// It needs special processing because ConfigTaskWidget uses TRUE/FALSE
// for QCheckBox, but OptionalModules uses Enabled/Disabled enum values.
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
m_txpid->TxPIDEnable->setChecked(
hwSettings->getOptionalModules(HwSettings::OPTIONALMODULES_TXPID) == HwSettings::OPTIONALMODULES_ENABLED);
}
/*
* This overridden function updates UAVObjects which have no direct relation
* to any of widgets.
*/
void ConfigTxPIDWidget::updateObjectsFromWidgetsImpl()
{
// Save state of the module enable checkbox first.
// Do not use setData() member on whole object, if possible, since it triggers unnecessary UAVObect update.
quint8 enableModule = m_txpid->TxPIDEnable->isChecked() ?
HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
hwSettings->setOptionalModules(HwSettings::OPTIONALMODULES_TXPID, enableModule);
}
static bool isResponsivenessOption(int pidOption)
{
switch (pidOption) {
@ -444,32 +463,6 @@ void ConfigTxPIDWidget::updateSpinBoxProperties(int selectedPidOption)
maxPID->setValue(value);
}
void ConfigTxPIDWidget::refreshValues()
{
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
m_txpid->TxPIDEnable->setChecked(
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_TXPID] == HwSettings::OPTIONALMODULES_ENABLED);
}
void ConfigTxPIDWidget::applySettings()
{
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_TXPID] =
m_txpid->TxPIDEnable->isChecked() ? HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
hwSettings->setData(hwSettingsData);
}
void ConfigTxPIDWidget::saveSettings()
{
applySettings();
UAVObject *obj = HwSettings::GetInstance(getObjectManager());
saveObjectToSD(obj);
}
void ConfigTxPIDWidget::processLinkedWidgets(QWidget *widget)
{
Q_UNUSED(widget);

9
ground/gcs/src/plugins/config/configtxpidwidget.h
View File

@ -37,15 +37,18 @@ class ConfigTxPIDWidget : public ConfigTaskWidget {
public:
ConfigTxPIDWidget(QWidget *parent = 0);
~ConfigTxPIDWidget();
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
Ui_TxPIDWidget *m_txpid;
private slots:
void processLinkedWidgets(QWidget *widget);
void updateSpinBoxProperties(int selectedPidOption);
float getDefaultValueForPidOption(int pidOption);
void refreshValues();
void applySettings();
void saveSettings();
};
#endif // CONFIGTXPIDWIDGET_H

120
ground/gcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -31,7 +31,6 @@
#include "configgadgetfactory.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include "systemsettings.h"
#include "actuatorsettings.h"
@ -47,11 +46,7 @@
#include <QTimer>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <math.h>
#include <QDesktopServices>
#include <QUrl>
/**
Static function to get currently assigned channelDescriptions
@ -120,12 +115,14 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
m_aircraft = new Ui_AircraftWidget();
m_aircraft->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_aircraft->saveAircraftToRAM->setVisible(false);
}
// must be done before auto binding !
setWikiURL("Vehicle+Configuration");
addAutoBindings();
disableMouseWheelEvents();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
ConfigGadgetFactory *configGadgetFactory = pm->getObject<ConfigGadgetFactory>();
connect(m_aircraft->vehicleSetupWizardButton, SIGNAL(clicked()), configGadgetFactory, SIGNAL(onOpenVehicleConfigurationWizard()));
@ -133,31 +130,22 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
Q_ASSERT(syssettings);
m_aircraft->nameEdit->setMaxLength(syssettings->VEHICLENAME_NUMELEM);
addApplySaveButtons(m_aircraft->saveAircraftToRAM, m_aircraft->saveAircraftToSD);
addUAVObject("SystemSettings");
addUAVObject("MixerSettings");
addUAVObject("ActuatorSettings");
// The order of the tabs is important since they correspond with the AirframCategory enum
addWidget(m_aircraft->nameEdit);
// The order of the tabs is important since they correspond with the AirframeCategory enum
m_aircraft->aircraftType->addTab(tr("Multirotor"));
m_aircraft->aircraftType->addTab(tr("Fixed Wing"));
m_aircraft->aircraftType->addTab(tr("Helicopter"));
m_aircraft->aircraftType->addTab(tr("Ground"));
m_aircraft->aircraftType->addTab(tr("Custom"));
// switchAirframeType(0);
// Connect aircraft type selection dropbox to callback function
connect(m_aircraft->aircraftType, SIGNAL(currentChanged(int)), this, SLOT(switchAirframeType(int)));
// Connect the help pushbutton
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
refreshWidgetsValues();
addWidget(m_aircraft->nameEdit);
disableMouseWheelEvents();
updateEnableControls();
}
/**
@ -171,23 +159,22 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
void ConfigVehicleTypeWidget::switchAirframeType(int index)
{
m_aircraft->airframesWidget->setCurrentWidget(getVehicleConfigWidget(index));
setDirty(true);
}
/**
Refreshes the current value of the SystemSettings which holds the aircraft type
Note: The default behavior of ConfigTaskWidget is bypassed.
Therefore no automatic synchronization of UAV Objects to UI is done.
Refreshes the current value of the SystemSettings which holds the aircraft type.
Note: no widgets are bound so the default behavior of ConfigTaskWidget will not do much.
Almost everything is handled here to the exception of one case (see ConfigCustomWidget...)
*/
void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *object)
void ConfigVehicleTypeWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
ConfigTaskWidget::refreshWidgetsValues(object);
Q_UNUSED(obj);
if (!allObjectsUpdated()) {
return;
}
bool dirty = isDirty();
// Get the Airframe type from the system settings:
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
@ -233,8 +220,6 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *object)
}
}
m_aircraft->nameEdit->setText(name);
setDirty(dirty);
}
/**
@ -243,11 +228,8 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *object)
We do all the tasks common to all airframes, or family of airframes, and
we call additional methods for specific frames, so that we do not have a code
that is too heavy.
Note: The default behavior of ConfigTaskWidget is bypassed.
Therefore no automatic synchronization of UI to UAV Objects is done.
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
void ConfigVehicleTypeWidget::updateObjectsFromWidgetsImpl()
{
// Airframe type defaults to Custom
QString airframeType = "Custom";
@ -262,7 +244,7 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
UAVObjectField *field = system->getField(QString("AirframeType"));
if (field) {
field->setValue(airframeType);
}
@ -279,8 +261,8 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
}
// call refreshWidgetsValues() to reflect actual saved values
// TODO is this needed ?
refreshWidgetsValues();
ConfigTaskWidget::updateObjectsFromWidgets();
}
int ConfigVehicleTypeWidget::frameCategory(QString frameType)
@ -311,46 +293,52 @@ int ConfigVehicleTypeWidget::frameCategory(QString frameType)
VehicleConfig *ConfigVehicleTypeWidget::getVehicleConfigWidget(int frameCategory)
{
VehicleConfig *vehiculeConfig;
VehicleConfig *vehicleConfig;
if (!m_vehicleIndexMap.contains(frameCategory)) {
// create config widget
vehiculeConfig = createVehicleConfigWidget(frameCategory);
// bind config widget "field" to this ConfigTaskWodget
// this is necessary to get "dirty" state management
vehiculeConfig->registerWidgets(*this);
vehicleConfig = createVehicleConfigWidget(frameCategory);
// add config widget to UI
int index = m_aircraft->airframesWidget->insertWidget(m_aircraft->airframesWidget->count(), vehiculeConfig);
int index = m_aircraft->airframesWidget->insertWidget(m_aircraft->airframesWidget->count(), vehicleConfig);
m_vehicleIndexMap[frameCategory] = index;
// and enable controls (needed?)
updateEnableControls();
}
int index = m_vehicleIndexMap.value(frameCategory);
vehiculeConfig = (VehicleConfig *)m_aircraft->airframesWidget->widget(index);
return vehiculeConfig;
vehicleConfig = (VehicleConfig *)m_aircraft->airframesWidget->widget(index);
return vehicleConfig;
}
VehicleConfig *ConfigVehicleTypeWidget::createVehicleConfigWidget(int frameCategory)
{
if (frameCategory == ConfigVehicleTypeWidget::FIXED_WING) {
return new ConfigFixedWingWidget();
} else if (frameCategory == ConfigVehicleTypeWidget::MULTIROTOR) {
return new ConfigMultiRotorWidget();
} else if (frameCategory == ConfigVehicleTypeWidget::HELICOPTER) {
return new ConfigCcpmWidget();
} else if (frameCategory == ConfigVehicleTypeWidget::GROUND) {
return new ConfigGroundVehicleWidget();
} else if (frameCategory == ConfigVehicleTypeWidget::CUSTOM) {
return new ConfigCustomWidget();
}
return NULL;
}
VehicleConfig *vehicleConfig;
/**
Opens the wiki from the user's default browser
*/
void ConfigVehicleTypeWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Vehicle+Configuration"),
QUrl::StrictMode));
switch (frameCategory) {
case ConfigVehicleTypeWidget::FIXED_WING:
vehicleConfig = new ConfigFixedWingWidget();
break;
case ConfigVehicleTypeWidget::MULTIROTOR:
vehicleConfig = new ConfigMultiRotorWidget();
break;
case ConfigVehicleTypeWidget::HELICOPTER:
vehicleConfig = new ConfigCcpmWidget();
break;
case ConfigVehicleTypeWidget::GROUND:
vehicleConfig = new ConfigGroundVehicleWidget();
break;
case ConfigVehicleTypeWidget::CUSTOM:
vehicleConfig = new ConfigCustomWidget();
break;
default:
vehicleConfig = NULL;
break;
}
if (vehicleConfig) {
// bind config widget "field" to this ConfigTaskWodget
// this is necessary to get "dirty" state management
vehicleConfig->registerWidgets(*this);
}
return vehicleConfig;
}

13
ground/gcs/src/plugins/config/configvehicletypewidget.h
View File

@ -41,10 +41,7 @@ class Ui_AircraftWidget;
class QWidget;
/*
* This class derives from ConfigTaskWidget and overrides its default "binding" mechanism.
* This widget bypasses automatic synchronization of UAVObjects and UI by providing its own implementations of
* virtual void refreshWidgetsValues(UAVObject *obj = NULL);
* virtual void updateObjectsFromWidgets();
* This class derives from ConfigTaskWidget but almost bypasses the need its default "binding" mechanism.
*
* It does use the "dirty" state management and registers its relevant widgets with ConfigTaskWidget to do so.
*
@ -52,7 +49,6 @@ class QWidget;
* Note: for "dirty" state management it is important to register the fields of child widgets with the parent
* ConfigVehicleTypeWidget class.
*
* TODO consider to call "super" to benefit from default logic...
* TODO improve handling of relationship with VehicleConfig derived classes (i.e. ConfigTaskWidget within ConfigTaskWidget)
*/
class ConfigVehicleTypeWidget : public ConfigTaskWidget {
@ -64,9 +60,9 @@ public:
ConfigVehicleTypeWidget(QWidget *parent = 0);
~ConfigVehicleTypeWidget();
protected slots:
virtual void refreshWidgetsValues(UAVObject *object = NULL);
virtual void updateObjectsFromWidgets();
protected:
virtual void refreshWidgetsValuesImpl(UAVObject *obj);
virtual void updateObjectsFromWidgetsImpl();
private:
Ui_AircraftWidget *m_aircraft;
@ -84,7 +80,6 @@ private:
private slots:
void switchAirframeType(int index);
void openHelp();
};
#endif // CONFIGVEHICLETYPEWIDGET_H

77
ground/gcs/src/plugins/config/defaultattitude.ui
View File

@ -1,77 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>defaultattitude</class>
<widget class="QWidget" name="defaultattitude">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QTextBrowser" name="textBrowser">
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:600;&quot;&gt;Attitude Calibration&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;This panel will be updated to provide the relevant controls to let you calibrate your flight controller, depending on the board which is detected once telemetry is connected and running.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

45
ground/gcs/src/plugins/config/defaultattitudewidget.cpp
View File

@ -1,45 +0,0 @@
/**
******************************************************************************
*
* @file defaultattitudewidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Placeholder for attitude panel until board is connected.
*****************************************************************************/
/*
* 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 "defaultattitudewidget.h"
#include "ui_defaultattitude.h"
#include <QMutexLocker>
#include <QErrorMessage>
#include <QDebug>
DefaultAttitudeWidget::DefaultAttitudeWidget(QWidget *parent) :
QWidget(parent),
ui(new Ui_defaultattitude)
{
ui->setupUi(this);
}
DefaultAttitudeWidget::~DefaultAttitudeWidget()
{
delete ui;
}

267
ground/gcs/src/plugins/config/defaultconfig.ui Normal file
View File

@ -0,0 +1,267 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>defaultconfig</class>
<widget class="QWidget" name="defaultconfig">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>646</width>
<height>596</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
<string notr="true">&lt;place holder - do not translate&gt;</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="palette">
<palette>
<active>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>622</width>
<height>519</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item row="1" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QTextBrowser" name="textBrowser">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="sizeAdjustPolicy">
<enum>QAbstractScrollArea::AdjustToContents</enum>
</property>
<property name="lineWrapMode">
<enum>QTextEdit::WidgetWidth</enum>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;This panel will be updated to provide the relevant controls to let you configure your device once it is connected and running.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>4</number>
</property>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>369</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="helpButton">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="toolTip">
<string>Takes you to the wiki page</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="applyButton">
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveButton">
<property name="text">
<string>Save</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

28
ground/gcs/src/plugins/config/defaulthwsettingswidget.cpp → ground/gcs/src/plugins/config/defaultconfigwidget.cpp
View File

@ -1,13 +1,13 @@
/**
******************************************************************************
*
* @file DefaultHwSettingsWidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file defaultconfigwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Placeholder for attitude panel until board is connected.
* @brief Placeholder for config widget until board connected.
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -24,22 +24,24 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "defaulthwsettingswidget.h"
#include "defaultconfigwidget.h"
#include "ui_defaulthwsettings.h"
#include "ui_defaultconfig.h"
#include <QMutexLocker>
#include <QErrorMessage>
#include <QDebug>
DefaultHwSettingsWidget::DefaultHwSettingsWidget(QWidget *parent) :
QWidget(parent),
ui(new Ui_defaulthwsettings)
DefaultConfigWidget::DefaultConfigWidget(QWidget *parent, QString title) : QWidget(parent)
{
ui = new Ui_defaultconfig();
ui->setupUi(this);
ui->tabWidget->setTabText(0, title);
ui->helpButton->setEnabled(false);
ui->saveButton->setEnabled(false);
ui->applyButton->setVisible(false);
ui->applyButton->setEnabled(false);
}
DefaultHwSettingsWidget::~DefaultHwSettingsWidget()
DefaultConfigWidget::~DefaultConfigWidget()
{
delete ui;
}

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