Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into next

HISTORY.txt

@@ -1,4 +1,9 @@
 Short summary of changes.  For a complete list see the git log.
+
+2012-10-06
+Receiver port can now be configured as PPM *and* PWM inputs.
+Pin 1 is PPM, other pins are PWM inputs.
+
 2012-07-27
 Added the ability to load stylesheets from external file according to operating system:
 macos.qss, linux.qss, windows.qss

flight/CopterControl/Makefile

@@ -38,9 +38,15 @@ OUTDIR := $(TOP)/build/$(TARGET)
 DEBUG ?= NO
 
 # Include objects that are just nice information to show
-DIAGNOSTICS ?= NO
+STACK_DIAGNOSTICS ?= NO
+MIXERSTATUS_DIAGNOSTICS ?= NO
+RATEDESIRED_DIAGNOSTICS ?= NO
+I2C_WDG_STATS_DIAGNOSTICS ?= NO
 DIAG_TASKS ?= NO
 
+#Or just turn on all the above diagnostics. WARNING: This consumes massive amounts of memory.
+ALL_DIGNOSTICS ?=NO
+
 # Set to YES to build a FW version that will erase all flash memory
 ERASE_FLASH ?= NO
 # Set to YES to use the Servo output pins for debugging via scope or logic analyser
@@ -485,11 +491,25 @@ ifeq ($(DEBUG),YES)
 CFLAGS += -DDEBUG
 endif
 
-ifeq ($(DIAGNOSTICS),YES)
-CFLAGS += -DDIAGNOSTICS
+#The following Makefile command, ifneq (, $(filter) $(A), $(B) $(C)) is equivalent 
+# to the pseudocode `if(A== B || A==C)`
+ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DSTACK_DIAGNOSTICS
 endif
 
-ifeq ($(DIAG_TASKS),YES)
+ifneq (,$(filter YES,$(MIXERSTATUS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
+endif
+
+ifneq (,$(filter YES,$(RATEDESIRED_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DRATEDESIRED_DIAGNOSTICS
+endif
+
+ifneq (,$(filter YES,$(I2C_WDG_STATS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
+endif
+
+ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS)))
 CFLAGS += -DDIAG_TASKS
 endif
 

flight/CopterControl/System/pios_board.c

@@ -662,6 +662,33 @@ void PIOS_Board_Init(void) {
 		}
 #endif	/* PIOS_INCLUDE_PPM */
 		break;
+	case HWSETTINGS_CC_RCVRPORT_PPMPWM:
+		/* This is a combination of PPM and PWM inputs */
+#if defined(PIOS_INCLUDE_PPM)
+		{
+			uint32_t pios_ppm_id;
+			PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
+
+			uint32_t pios_ppm_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
+				PIOS_Assert(0);
+			}
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
+		}
+#endif	/* PIOS_INCLUDE_PPM */
+#if defined(PIOS_INCLUDE_PWM)
+		{
+			uint32_t pios_pwm_id;
+			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_cfg);
+
+			uint32_t pios_pwm_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
+				PIOS_Assert(0);
+			}
+			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
+		}
+#endif	/* PIOS_INCLUDE_PWM */
+		break;
 	}
 
 #if defined(PIOS_INCLUDE_GCSRCVR)
@@ -683,6 +710,7 @@ void PIOS_Board_Init(void) {
 		case HWSETTINGS_CC_RCVRPORT_DISABLED:
 		case HWSETTINGS_CC_RCVRPORT_PWM:
 		case HWSETTINGS_CC_RCVRPORT_PPM:
+		case HWSETTINGS_CC_RCVRPORT_PPMPWM:
 			PIOS_Servo_Init(&pios_servo_cfg);
 			break;
 		case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:

flight/Modules/Actuator/actuator.c

@@ -126,7 +126,7 @@ int32_t ActuatorInitialize()
 	// Primary output of this module
 	ActuatorCommandInitialize();
 
-#if defined(DIAGNOSTICS)
+#if defined(MIXERSTATUS_DIAGNOSTICS)
 	// UAVO only used for inspecting the internal status of the mixer during debug
 	MixerStatusInitialize();
 #endif
@@ -212,7 +212,7 @@ static void actuatorTask(void* parameters)
 		ActuatorDesiredGet(&desired);
 		ActuatorCommandGet(&command);
 
-#if defined(DIAGNOSTICS)
+#if defined(MIXERSTATUS_DIAGNOSTICS)
 		MixerStatusGet(&mixerStatus);
 #endif
 		int nMixers = 0;
@@ -362,7 +362,7 @@ static void actuatorTask(void* parameters)
 		// Update in case read only (eg. during servo configuration)
 		ActuatorCommandGet(&command);
 
-#if defined(DIAGNOSTICS)
+#if defined(MIXERSTATUS_DIAGNOSTICS)
 		MixerStatusSet(&mixerStatus);
 #endif
 		

flight/Modules/Stabilization/stabilization.c

@@ -119,7 +119,7 @@ int32_t StabilizationInitialize()
 	// Initialize variables
 	StabilizationSettingsInitialize();
 	ActuatorDesiredInitialize();
-#if defined(DIAGNOSTICS)
+#if defined(RATEDESIRED_DIAGNOSTICS)
 	RateDesiredInitialize();
 #endif
 
@@ -172,8 +172,7 @@ static void stabilizationTask(void* parameters)
 		StabilizationDesiredGet(&stabDesired);
 		AttitudeActualGet(&attitudeActual);
 		GyrosGet(&gyrosData);
-		
-#if defined(DIAGNOSTICS)
+#if defined(RATEDESIRED_DIAGNOSTICS)
 		RateDesiredGet(&rateDesired);
 #endif
 		
@@ -350,7 +349,7 @@ static void stabilizationTask(void* parameters)
 		if (settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE)
 			stabilization_virtual_flybar_pirocomp(gyro_filtered[2], dT);
 
-#if defined(DIAGNOSTICS)
+#if defined(RATEDESIRED_DIAGNOSTICS)
 		RateDesiredSet(&rateDesired);
 #endif
 

flight/Modules/System/systemmod.c

@@ -82,7 +82,7 @@ static void objectUpdatedCb(UAVObjEvent * ev);
 static void updateStats();
 static void updateSystemAlarms();
 static void systemTask(void *parameters);
-#if defined(DIAGNOSTICS)
+#if defined(I2C_WDG_STATS_DIAGNOSTICS)
 static void updateI2Cstats();
 static void updateWDGstats();
 #endif
@@ -118,7 +118,7 @@ int32_t SystemModInitialize(void)
 #if defined(DIAG_TASKS)
 	TaskInfoInitialize();
 #endif
-#if defined(DIAGNOSTICS)
+#if defined(I2C_WDG_STATS_DIAGNOSTICS)
 	I2CStatsInitialize();
 	WatchdogStatusInitialize();
 #endif
@@ -168,7 +168,7 @@ static void systemTask(void *parameters)
 
 		// Update the system alarms
 		updateSystemAlarms();
-#if defined(DIAGNOSTICS)
+#if defined(I2C_WDG_STATS_DIAGNOSTICS)
 		updateI2Cstats();
 		updateWDGstats();
 #endif
@@ -301,7 +301,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 /**
  * Called periodically to update the I2C statistics 
  */
-#if defined(DIAGNOSTICS)
+#if defined(I2C_WDG_STATS_DIAGNOSTICS)
 static void updateI2Cstats() 
 {
 #if defined(PIOS_INCLUDE_I2C)

flight/PiOS/Common/pios_bma180.c

@@ -434,7 +434,7 @@ int32_t PIOS_BMA180_Test()
  * @brief IRQ Handler.  Read data from the BMA180 FIFO and push onto a local fifo.
  */
 int32_t bma180_irqs = 0;
-void PIOS_BMA180_IRQHandler(void)
+bool PIOS_BMA180_IRQHandler(void)
 {
 	bma180_irqs++;
 	
@@ -470,7 +470,8 @@ void PIOS_BMA180_IRQHandler(void)
 	data.temperature = pios_bma180_dmabuf[7];
 	
 	fifoBuf_putData(&dev->fifo, (uint8_t *) &data, sizeof(data));
-
+	
+	return false;
 }
 
 #endif /* PIOS_INCLUDE_BMA180 */

flight/PiOS/Common/pios_hmc5883.c

@@ -391,9 +391,11 @@ int32_t PIOS_HMC5883_Test(void)
 /**
  * @brief IRQ Handler
  */
-void PIOS_HMC5883_IRQHandler(void)
+bool PIOS_HMC5883_IRQHandler(void)
 {
-	pios_hmc5883_data_ready = true;
+	pios_hmc5883_data_ready = true
+	
+	return false;
 }
 
 #endif /* PIOS_INCLUDE_HMC5883 */

flight/PiOS/Common/pios_l3gd20.c

@@ -353,7 +353,7 @@ uint8_t PIOS_L3GD20_Test(void)
 /**
 * @brief IRQ Handler.  Read all the data from onboard buffer
 */
-void PIOS_L3GD20_IRQHandler(void)
+bool PIOS_L3GD20_IRQHandler(void)
 {
 	l3gd20_irq++;
 
@@ -375,7 +375,10 @@ void PIOS_L3GD20_IRQHandler(void)
 	memcpy((uint8_t *) &(data.gyro_x), &rec[1], 6);
 	data.temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);
 	
-	xQueueSend(dev->queue, (void *) &data, 0);
+	portBASE_TYPE xHigherPriorityTaskWoken;
+	xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
+	
+	return xHigherPriorityTaskWoken == pdTRUE;
 }
 
 #endif /* L3GD20 */

flight/PiOS/Common/pios_mpu6000.c

@@ -400,21 +400,21 @@ uint32_t mpu6000_interval_us;
 uint32_t mpu6000_time_us;
 uint32_t mpu6000_transfer_size;
 
-void PIOS_MPU6000_IRQHandler(void)
+bool PIOS_MPU6000_IRQHandler(void)
 {
 	static uint32_t timeval;
 	mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
 	timeval = PIOS_DELAY_GetRaw();
 
 	if(!mpu6000_configured)
-		return;
+		return false;
 
 	mpu6000_count = PIOS_MPU6000_FifoDepth();
 	if(mpu6000_count < sizeof(struct pios_mpu6000_data))
-		return;
+		return false;
 		
 	if(PIOS_MPU6000_ClaimBus() != 0)
-		return;		
+		return false;
 		
 	uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
 	uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
@@ -422,7 +422,7 @@ void PIOS_MPU6000_IRQHandler(void)
 	if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
 		PIOS_MPU6000_ReleaseBus();
 		mpu6000_fails++;
-		return;
+		return false;
 	}
 
 	PIOS_MPU6000_ReleaseBus();
@@ -433,12 +433,12 @@ void PIOS_MPU6000_IRQHandler(void)
 	if (mpu6000_count >= (sizeof(data) * 2)) {
 		mpu6000_fifo_backup++;
 		if(PIOS_MPU6000_ClaimBus() != 0)
-			return;		
+			return false;		
 		
 		if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
 			PIOS_MPU6000_ReleaseBus();
 			mpu6000_fails++;
-			return;
+			return false;
 		}
 		
 		PIOS_MPU6000_ReleaseBus();
@@ -458,12 +458,15 @@ void PIOS_MPU6000_IRQHandler(void)
 	data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
 	data.gyro_z = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
 #endif
-
-	xQueueSend(dev->queue, (void *) &data, 0);
+	
+	portBASE_TYPE xHigherPriorityTaskWoken;
+	xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
 	
 	mpu6000_irq++;
 	
 	mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
+	
+	return xHigherPriorityTaskWoken == pdTRUE;	
 }
 
 #endif

flight/PiOS/Common/pios_rfm22b.c

@@ -172,7 +172,7 @@ uint32_t random32 = 0x459ab8d8;
 /* Local function forwared declarations */
 static void PIOS_RFM22B_Supervisor(uint32_t ppm_id);
 static void rfm22_processInt(void);
-static void PIOS_RFM22_EXT_Int(void);
+static bool PIOS_RFM22_EXT_Int(void);
 static void rfm22_setTxMode(uint8_t mode);
 
 // SPI read/write functions
@@ -751,12 +751,13 @@ uint8_t rfm22_read(uint8_t addr)
 // external interrupt
 
 
-static void PIOS_RFM22_EXT_Int(void)
+static bool PIOS_RFM22_EXT_Int(void)
 {
 	rfm22_setDebug("Ext Int");
 	if (!exec_using_spi)
 		rfm22_processInt();
 	rfm22_setDebug("Ext Done");
+	return false;
 }
 
 void rfm22_disableExtInt(void)

flight/PiOS/STM32F10x/pios_dsm.c

@@ -128,7 +128,7 @@ static void PIOS_DSM_Bind(struct pios_dsm_dev *dsm_dev, uint8_t bind)
 	GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
 
 	/* on CC works up to 140ms, guess bind window is around 20-140ms after power up */
-	PIOS_DELAY_WaitmS(60);
+	PIOS_DELAY_WaitmS(20);
 
 	for (int i = 0; i < bind ; i++) {
 		/* RX line, drive low for 120us */

flight/PiOS/STM32F10x/pios_exti.c

@@ -149,7 +149,7 @@ out_fail:
 	return -1;
 }
 
-static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
+static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 {
 	uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
 
@@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 	if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
 		cfg_index == PIOS_EXTI_INVALID) {
 		/* Unconfigured interrupt just fired! */
-		return;
+		return false;
 	}
 
 	struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
-	cfg->vector();
+	return cfg->vector();
 }
 
-/* Bind Interrupt Handlers */
-
-#define PIOS_EXTI_HANDLE_LINE(line)				\
+#ifdef PIOS_INCLUDE_FREERTOS
+#define PIOS_EXTI_HANDLE_LINE(line, woken)			\
+	if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {	\
+		EXTI_ClearITPendingBit(EXTI_Line##line);	\
+		woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
+	}
+#else
+#define PIOS_EXTI_HANDLE_LINE(line, woken)			\
 	if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {	\
 		EXTI_ClearITPendingBit(EXTI_Line##line);	\
 		PIOS_EXTI_generic_irq_handler(line);		\
 	}
+#endif
+
+/* Bind Interrupt Handlers */
 
 static void PIOS_EXTI_0_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(0);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
 
 static void PIOS_EXTI_1_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(1);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
 
 static void PIOS_EXTI_2_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(2);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
 
 static void PIOS_EXTI_3_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(3);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
 
 static void PIOS_EXTI_4_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(4);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
 
 static void PIOS_EXTI_9_5_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(5);
-	PIOS_EXTI_HANDLE_LINE(6);
-	PIOS_EXTI_HANDLE_LINE(7);
-	PIOS_EXTI_HANDLE_LINE(8);
-	PIOS_EXTI_HANDLE_LINE(9);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
 
 static void PIOS_EXTI_15_10_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(10);
-	PIOS_EXTI_HANDLE_LINE(11);
-	PIOS_EXTI_HANDLE_LINE(12);
-	PIOS_EXTI_HANDLE_LINE(13);
-	PIOS_EXTI_HANDLE_LINE(14);
-	PIOS_EXTI_HANDLE_LINE(15);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));
 

flight/PiOS/STM32F4xx/pios_exti.c

@@ -149,7 +149,7 @@ out_fail:
 	return -1;
 }
 
-static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
+static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 {
 	uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
 
@@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 	if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
 		cfg_index == PIOS_EXTI_INVALID) {
 		/* Unconfigured interrupt just fired! */
-		return;
+		return false;
 	}
 
 	struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
-	cfg->vector();
+	return cfg->vector();
 }
 
 /* Bind Interrupt Handlers */
 
-#define PIOS_EXTI_HANDLE_LINE(line)				\
+#ifdef PIOS_INCLUDE_FREERTOS
+#define PIOS_EXTI_HANDLE_LINE(line, woken)			\
+	if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {	\
+		EXTI_ClearITPendingBit(EXTI_Line##line);	\
+		woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
+	}
+#else
+#define PIOS_EXTI_HANDLE_LINE(line, woken)			\
 	if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {	\
 		EXTI_ClearITPendingBit(EXTI_Line##line);	\
 		PIOS_EXTI_generic_irq_handler(line);		\
 	}
+#endif
 
 static void PIOS_EXTI_0_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(0);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
 
 static void PIOS_EXTI_1_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(1);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
 
 static void PIOS_EXTI_2_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(2);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
 
 static void PIOS_EXTI_3_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(3);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
 
 static void PIOS_EXTI_4_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(4);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
 
 static void PIOS_EXTI_9_5_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(5);
-	PIOS_EXTI_HANDLE_LINE(6);
-	PIOS_EXTI_HANDLE_LINE(7);
-	PIOS_EXTI_HANDLE_LINE(8);
-	PIOS_EXTI_HANDLE_LINE(9);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
 
 static void PIOS_EXTI_15_10_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(10);
-	PIOS_EXTI_HANDLE_LINE(11);
-	PIOS_EXTI_HANDLE_LINE(12);
-	PIOS_EXTI_HANDLE_LINE(13);
-	PIOS_EXTI_HANDLE_LINE(14);
-	PIOS_EXTI_HANDLE_LINE(15);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));
 

flight/PiOS/inc/pios_bma180.h

@@ -103,7 +103,7 @@ extern float PIOS_BMA180_GetScale();
 extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
 extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
 extern int32_t PIOS_BMA180_Test();
-extern void PIOS_BMA180_IRQHandler();
+extern bool PIOS_BMA180_IRQHandler();
 
 #endif /* PIOS_BMA180_H */
 

flight/PiOS/inc/pios_exti.h

@@ -36,7 +36,7 @@
 #include <pios_stm32.h>
 
 struct pios_exti_cfg {
-	void (* vector)(void);
+	bool (* vector)(void);
 	uint32_t line;		/* use EXTI_LineN macros */
 	struct stm32_gpio pin;
 	struct stm32_irq irq;

flight/PiOS/inc/pios_hmc5883.h

@@ -107,7 +107,7 @@ extern bool PIOS_HMC5883_NewDataAvailable(void);
 extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
 extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
 extern int32_t PIOS_HMC5883_Test(void);
-extern void PIOS_HMC5883_IRQHandler();
+bool void PIOS_HMC5883_IRQHandler();
 #endif /* PIOS_HMC5883_H */
 
 /** 

flight/PiOS/inc/pios_l3gd20.h

@@ -141,7 +141,7 @@ extern int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range);
 extern float PIOS_L3GD20_GetScale();
 extern int32_t PIOS_L3GD20_ReadID();
 extern uint8_t PIOS_L3GD20_Test();
-extern void PIOS_L3GD20_IRQHandler();
+bool void PIOS_L3GD20_IRQHandler();
 
 #endif /* PIOS_L3GD20_H */
 

flight/PiOS/inc/pios_mpu6000.h

@@ -156,7 +156,7 @@ extern int32_t PIOS_MPU6000_ReadID();
 extern uint8_t PIOS_MPU6000_Test();
 extern float PIOS_MPU6000_GetScale();
 extern float PIOS_MPU6000_GetAccelScale();
-extern void PIOS_MPU6000_IRQHandler(void);
+extern bool PIOS_MPU6000_IRQHandler(void);
 
 #endif /* PIOS_MPU6000_H */
 

flight/PipXtreme/Makefile

@@ -38,7 +38,14 @@ OUTDIR := $(TOP)/build/$(TARGET)
 DEBUG ?= NO
 
 # Include objects that are just nice information to show
-DIAGNOSTICS ?= NO
+STACK_DIAGNOSTICS ?= NO
+MIXERSTATUS_DIAGNOSTICS ?= NO
+RATEDESIRED_DIAGNOSTICS ?= NO
+I2C_WDG_STATS_DIAGNOSTICS ?= NO
+DIAG_TASKS ?= NO
+
+#Or just turn on all the above diagnostics. WARNING: This consumes massive amounts of memory.
+ALL_DIGNOSTICS ?=NO
 
 # Set to YES to build a FW version that will erase all flash memory
 ERASE_FLASH ?= NO
@@ -378,8 +385,24 @@ ifeq ($(DEBUG),YES)
 CFLAGS = -DDEBUG
 endif
 
-ifeq ($(DIAGNOSTICS),YES)
-CFLAGS = -DDIAGNOSTICS
+ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DSTACK_DIAGNOSTICS
+endif
+
+ifneq (,$(filter YES,$(MIXERSTATUS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
+endif
+
+ifneq (,$(filter YES,$(RATEDESIRED_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DRATEDESIRED_DIAGNOSTICS
+endif
+
+ifneq (,$(filter YES,$(I2C_WDG_STATS_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
+endif
+
+ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS)))
+CFLAGS += -DDIAG_TASKS
 endif
 
 CFLAGS += -g$(DEBUGF)

flight/PipXtreme/System/inc/FreeRTOSConfig.h

@@ -76,7 +76,7 @@ NVIC value of 255. */
 #endif
 
 /* Enable run time stats collection */
-#if defined(DIAGNOSTICS)
+#if defined(STACK_DIAGNOSTICS)
 #define configCHECK_FOR_STACK_OVERFLOW	2
 
 #define configGENERATE_RUN_TIME_STATS 1

flight/Revolution/Makefile

@@ -255,7 +255,10 @@ endif
 # common architecture-specific flags from the device-specific library makefile
 CFLAGS += $(ARCHFLAGS)
 
-CFLAGS += -DDIAGNOSTICS
+CFLAGS += -DSTACK_DIAGNOSTICS
+CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
+CFLAGS += -DRATEDESIRED_DIAGNOSTICS
+CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
 CFLAGS += -DDIAG_TASKS
 
 # This is not the best place for these.  Really should abstract out

flight/SimPosix/Makefile

@@ -256,7 +256,11 @@ endif
 CFLAGS += $(ARCHFLAGS)
 
 CFLAGS += $(UAVOBJDEFINE)
-CFLAGS += -DDIAGNOSTICS
+
+CFLAGS += -DSTACK_DIAGNOSTICS
+CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
+CFLAGS += -DRATEDESIRED_DIAGNOSTICS
+CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
 CFLAGS += -DDIAG_TASKS
 
 # This is not the best place for these.  Really should abstract out

flight/board_hw_defs/coptercontrol/board_hw_defs.c

@@ -1134,6 +1134,19 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
 	.channels = pios_tim_rcvrport_all_channels,
 	.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
 };
+
+const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = {
+	.tim_ic_init = {
+		.TIM_ICPolarity = TIM_ICPolarity_Rising,
+		.TIM_ICSelection = TIM_ICSelection_DirectTI,
+		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
+		.TIM_ICFilter = 0x0,
+	},
+	/* Leave the first channel for PPM use and use the rest for PWM */
+	.channels = &pios_tim_rcvrport_all_channels[1],
+	.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
+};
+
 #endif
 
 #if defined(PIOS_INCLUDE_I2C)

ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml

@@ -8,6 +8,8 @@
     <ExpertMode>false</ExpertMode>
     <OverrideLanguage>en_AU</OverrideLanguage>
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
+    <SettingsWindowHeight>700</SettingsWindowHeight>
+    <SettingsWindowWidth>800</SettingsWindowWidth>
     <StyleSheet>default</StyleSheet>
     <UDPMirror>false</UDPMirror>
   </General>
@@ -1683,7 +1685,7 @@
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>mapquad.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
-          <useOpenGL>false</useOpenGL>
+          <useOpenGL>true</useOpenGL>
         </data>
       </Google__PCT__20Sat>
       <Memory__PCT__20Only>
@@ -1703,7 +1705,7 @@
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>airplanepip.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
-          <useOpenGL>false</useOpenGL>
+          <useOpenGL>true</useOpenGL>
         </data>
       </Memory__PCT__20Only>
       <default>
@@ -1723,7 +1725,7 @@
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>mapquad.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
-          <useOpenGL>false</useOpenGL>
+          <useOpenGL>true</useOpenGL>
         </data>
       </default>
     </OPMapGadget>
@@ -2636,7 +2638,7 @@
             <type>uavGadget</type>
           </side1>
           <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAClQAAAAIAAAB3)</splitterSizes>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABhAAAAAIAAAGE)</splitterSizes>
           <type>splitter</type>
         </side1>
         <splitterOrientation>1</splitterOrientation>
@@ -2669,8 +2671,20 @@
         </side0>
         <side1>
           <side0>
-            <classId>EmptyGadget</classId>
-            <type>uavGadget</type>
+            <side0>
+              <classId>PfdQmlGadget</classId>
+              <gadget>
+                <activeConfiguration>NoTerrain</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>MagicWaypointGadget</classId>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAGU)</splitterSizes>
+            <type>splitter</type>
           </side0>
           <side1>
             <classId>GCSControlGadget</classId>
@@ -2680,7 +2694,7 @@
             <type>uavGadget</type>
           </side1>
           <splitterOrientation>1</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAADhAAAAAIAAAIX)</splitterSizes>
           <type>splitter</type>
         </side1>
         <splitterOrientation>2</splitterOrientation>
@@ -2739,7 +2753,7 @@
   </UAVGadgetManager>
   <Workspace>
     <AllowTabBarMovement>false</AllowTabBarMovement>
-    <Icon1>:\core\images\ah.png</Icon1>
+    <Icon1>:/core/images/ah.png</Icon1>
     <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
     <Icon2>:/core/images/config.png</Icon2>
     <Icon3>:/core/images/cog.png</Icon3>

ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml

@@ -6,7 +6,7 @@
     <LastPreferenceCategory>Notify Plugin</LastPreferenceCategory>
     <LastPreferencePage>settings</LastPreferencePage>
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
-    <SettingsWindowHeight>600</SettingsWindowHeight>
+    <SettingsWindowHeight>700</SettingsWindowHeight>
     <SettingsWindowWidth>800</SettingsWindowWidth>
     <UDPMirror>false</UDPMirror>
     <Description>Wide configuration</Description>
@@ -1679,7 +1679,7 @@
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>mapquad.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
-          <useOpenGL>false</useOpenGL>
+          <useOpenGL>true</useOpenGL>
         </data>
       </Google__PCT__20Sat>
       <Memory__PCT__20Only>
@@ -1698,7 +1698,7 @@
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>airplanepip.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
-          <useOpenGL>false</useOpenGL>
+          <useOpenGL>true</useOpenGL>
         </data>
       </Memory__PCT__20Only>
       <default>
@@ -1717,7 +1717,7 @@
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>mapquad.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
-          <useOpenGL>false</useOpenGL>
+          <useOpenGL>true</useOpenGL>
         </data>
       </default>
     </OPMapGadget>
@@ -2636,7 +2636,7 @@
             <type>uavGadget</type>
           </side1>
           <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAClQAAAAIAAAB3)</splitterSizes>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABhAAAAAIAAAGE)</splitterSizes>
           <type>splitter</type>
         </side1>
         <splitterOrientation>1</splitterOrientation>
@@ -2669,8 +2669,20 @@
         </side0>
         <side1>
           <side0>
-            <classId>EmptyGadget</classId>
-            <type>uavGadget</type>
+            <side0>
+              <classId>PfdQmlGadget</classId>
+              <gadget>
+                <activeConfiguration>NoTerrain</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>MagicWaypointGadget</classId>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAGU)</splitterSizes>
+            <type>splitter</type>
           </side0>
           <side1>
             <classId>GCSControlGadget</classId>
@@ -2680,7 +2692,7 @@
             <type>uavGadget</type>
           </side1>
           <splitterOrientation>1</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAADhAAAAAIAAAIX)</splitterSizes>
           <type>splitter</type>
         </side1>
         <splitterOrientation>2</splitterOrientation>
@@ -2739,7 +2751,7 @@
   </UAVGadgetManager>
   <Workspace>
     <AllowTabBarMovement>false</AllowTabBarMovement>
-    <Icon1>:\core\images\ah.png</Icon1>
+    <Icon1>:/core/images/ah.png</Icon1>
     <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
     <Icon2>:/core/images/config.png</Icon2>
     <Icon3>:/core/images/cog.png</Icon3>

ground/openpilotgcs/share/share.pro

@@ -6,13 +6,14 @@ SUBDIRS = openpilotgcs/translations
 DATACOLLECTIONS = dials models pfd sounds diagrams mapicons stylesheets default_configurations
 
 equals(copydata, 1) {
-    for(dir, DATACOLLECTIONS) {
-        exists($$GCS_SOURCE_TREE/share/openpilotgcs/$$dir) {
-            macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
-            !macx:data_copy.commands += $(MKDIR) $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
-            !macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
-        }
-    }
+   for(dir, DATACOLLECTIONS) {
+       exists($$GCS_SOURCE_TREE/share/openpilotgcs/$$dir) {
+           macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
+           win32:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
+           unix:data_copy.commands += $(MKDIR) $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
+           unix:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
+       }
+   }
 
     data_copy.target = FORCE
     QMAKE_EXTRA_TARGETS += data_copy

ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp

@@ -43,8 +43,6 @@ namespace core {
         LanguageStr=LanguageType().toShortString(Language);
         Cache::Instance();
 
-//        OPMaps::MemoryCache();
-
     }
 
 

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h

@@ -3,25 +3,25 @@
 *
 * @file       lks94projection.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
-* @brief      
+* @brief
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
 * @{
-* 
+*
 *****************************************************************************/
-/* 
-* 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 
+/*
+* 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 
+*
+* 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., 
+*
+* You should have received a copy of the GNU General Public License along
+* with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
 #ifndef LKS94PROJECTION_H
@@ -30,7 +30,7 @@
 #include "cmath"
 #include "../pureprojection.h"
 
- 
+
 namespace projections {
 class LKS94Projection:public internals::PureProjection
 {

ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.cpp

@@ -93,8 +93,18 @@ bool SDLGamepad::setGamepad(qint16 index)
     {
       buttons = SDL_JoystickNumButtons(gamepad);
       axes = SDL_JoystickNumAxes(gamepad);
-      this->index = index;
-      return true;
+
+      if (axes >= 4) {
+	this->index = index;
+	return true;
+      }
+      else
+      {
+	buttons = -1;
+	axes = -1;
+	this->index = -1;
+	qCritical("Gamepad has less than 4 axes");
+      }
     }
     else
     {

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

@@ -42,7 +42,7 @@ class QTCREATOR_UTILS_EXPORT MyListWidget : public QListWidget
 {
     Q_OBJECT
 public:
-    MyListWidget(QWidget *parent) : QListWidget(parent), m_iconAbove(false) { }
+    MyListWidget(QWidget *parent) : QListWidget(parent), m_iconAbove(false) {}
     void setIconAbove(bool iconAbove) { m_iconAbove = iconAbove; }
 protected:
     QStyleOptionViewItem viewOptions() const;

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

@@ -48,20 +48,24 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool
         toplevelLayout->addWidget(m_stackWidget);
         m_listWidget->setFlow(QListView::TopToBottom);
         m_listWidget->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
+        m_listWidget->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     } else {
         toplevelLayout = new QVBoxLayout;
         toplevelLayout->addWidget(m_stackWidget);
         toplevelLayout->addWidget(m_listWidget);
         m_listWidget->setFlow(QListView::LeftToRight);
         m_listWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
+        m_listWidget->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     }
-    if (m_iconAbove && m_vertical)
+
+    if (m_iconAbove && m_vertical) {
         m_listWidget->setFixedWidth(90); // this should be computed instead
+    }
 
     toplevelLayout->setSpacing(0);
     toplevelLayout->setContentsMargins(0, 0, 0, 0);
-    m_listWidget->setSpacing(0);
     m_listWidget->setContentsMargins(0, 0, 0, 0);
+    m_listWidget->setSpacing(0);
     m_stackWidget->setContentsMargins(0, 0, 0, 0);
     setLayout(toplevelLayout);
 

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

@@ -52,6 +52,7 @@ public:
     void insertCornerWidget(int index, QWidget *widget);
     int cornerWidgetCount() { return m_cornerWidgetCount; }
     QWidget * currentWidget(){return m_stackWidget->currentWidget();}
+    QWidget * getWidget(int index) {return m_stackWidget->widget(index);}
 
 signals:
     void currentAboutToShow(int index,bool * proceed);

ground/openpilotgcs/src/plugins/config/Config.pluginspec

@@ -1,4 +1,4 @@
-<plugin name="Config" version="0.0.1" compatVersion="1.0.0">
+<plugin name="Config" version="1.0.0" compatVersion="1.0.0">
 <vendor>The OpenPilot Project</vendor>
     <copyright>(C) 2010 OpenPilot Project</copyright>
     <license>GNU Public License (GPL) Version 3</license>

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

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>965</width>
-    <height>637</height>
+    <width>880</width>
+    <height>608</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -128,8 +128,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>935</width>
-            <height>537</height>
+            <width>850</width>
+            <height>508</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -1092,7 +1092,7 @@ margin:1px;</string>
 Typical value is 50% for + or X configuration on quads.</string>
                       </property>
                       <property name="minimum">
-                       <number>-100</number>
+                       <number>0</number>
                       </property>
                       <property name="maximum">
                        <number>100</number>
@@ -1450,7 +1450,7 @@ font: bold 12px;
 margin:1px;</string>
                     </property>
                     <property name="text">
-                     <string>Multirotor Yaw Direction</string>
+                     <string>Multirotor Motor Direction</string>
                     </property>
                     <property name="alignment">
                      <set>Qt::AlignCenter</set>
@@ -1506,9 +1506,9 @@ margin:1px;</string>
                    </widget>
                   </item>
                   <item row="3" column="4">
-                   <widget class="QCheckBox" name="TricopterRevMixercheckBox">
+                   <widget class="QCheckBox" name="MultirotorRevMixercheckBox">
                     <property name="text">
-                     <string>Reverse Yaw Mix</string>
+                     <string>Reverse all motors</string>
                     </property>
                    </widget>
                   </item>
@@ -1544,487 +1544,506 @@ margin:1px;</string>
               <property name="autoFillBackground">
                <bool>false</bool>
               </property>
-              <layout class="QVBoxLayout" name="verticalLayout_31" stretch="0">
+              <layout class="QVBoxLayout" name="verticalLayout_4">
                <item>
-                <layout class="QVBoxLayout" name="verticalLayout_61">
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_31">
+                <widget class="QScrollArea" name="scrollArea_3">
+                 <property name="widgetResizable">
+                  <bool>true</bool>
+                 </property>
+                 <widget class="QWidget" name="scrollAreaWidgetContents_3">
+                  <property name="geometry">
+                   <rect>
+                    <x>0</x>
+                    <y>0</y>
+                    <width>800</width>
+                    <height>386</height>
+                   </rect>
+                  </property>
+                  <layout class="QVBoxLayout" name="verticalLayout_11">
                    <item>
-                    <widget class="QLabel" name="label_51">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="font">
-                      <font>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Vehicle type:</string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QComboBox" name="groundVehicleType"/>
-                   </item>
-                   <item>
-                    <spacer name="horizontalSpacer_31">
-                     <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>
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_33">
-                   <item>
-                    <widget class="QLabel" name="label_7">
-                     <property name="font">
-                      <font>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Channel Assignment</string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <spacer name="horizontalSpacer_15">
-                     <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>
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_41">
-                   <item>
-                    <widget class="QGroupBox" name="groupBox_7">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>100</height>
-                      </size>
-                     </property>
-                     <property name="title">
-                      <string>Output channel asignmets</string>
-                     </property>
-                     <layout class="QFormLayout" name="formLayout_5">
-                      <item row="0" column="0">
-                       <widget class="QLabel" name="gvEngineLabel">
-                        <property name="minimumSize">
-                         <size>
-                          <width>77</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="text">
-                         <string>Engine</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="0" column="1">
-                       <widget class="QComboBox" name="gvEngineChannelBox">
-                        <property name="toolTip">
-                         <string>Select output channel for the engine</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="1" column="0">
-                       <widget class="QLabel" name="gvAileron1Label">
-                        <property name="minimumSize">
-                         <size>
-                          <width>60</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="text">
-                         <string>Aileron 1</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="1" column="1">
-                       <widget class="QComboBox" name="gvAileron1ChannelBox">
-                        <property name="toolTip">
-                         <string>Select output channel for the first aileron (or elevon)</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="2" column="0">
-                       <widget class="QLabel" name="gvAileron2Label">
-                        <property name="enabled">
-                         <bool>false</bool>
-                        </property>
-                        <property name="minimumSize">
-                         <size>
-                          <width>60</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="text">
-                         <string>Aileron 2</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="2" column="1">
-                       <widget class="QComboBox" name="gvAileron2ChannelBox">
-                        <property name="enabled">
-                         <bool>false</bool>
-                        </property>
-                        <property name="toolTip">
-                         <string>Select output channel for the second aileron (or elevon)</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="3" column="0">
-                       <widget class="QLabel" name="gvMotor1Label">
-                        <property name="minimumSize">
-                         <size>
-                          <width>0</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="text">
-                         <string>Motor</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="3" column="1">
-                       <widget class="QComboBox" name="gvMotor1ChannelBox">
-                        <property name="toolTip">
-                         <string>Select output channel for the first motor</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="4" column="0">
-                       <widget class="QLabel" name="gvMotor2Label">
-                        <property name="enabled">
-                         <bool>false</bool>
-                        </property>
-                        <property name="minimumSize">
-                         <size>
-                          <width>47</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="text">
-                         <string>Motor 2</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="4" column="1">
-                       <widget class="QComboBox" name="gvMotor2ChannelBox">
-                        <property name="enabled">
-                         <bool>false</bool>
-                        </property>
-                        <property name="toolTip">
-                         <string>Select output channel for a second motor</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="5" column="0">
-                       <widget class="QLabel" name="gvSteering1Label">
-                        <property name="text">
-                         <string>Front Steering</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="5" column="1">
-                       <widget class="QComboBox" name="gvSteering1ChannelBox">
-                        <property name="toolTip">
-                         <string>Select output channel for the first steering actuator</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="6" column="0">
-                       <widget class="QLabel" name="gvSteering2Label">
-                        <property name="text">
-                         <string>Rear Steering</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="6" column="1">
-                       <widget class="QComboBox" name="gvSteering2ChannelBox">
-                        <property name="toolTip">
-                         <string>Select output channel for a second steering actuator</string>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QGroupBox" name="differentialSteeringMixBox">
-                     <property name="enabled">
-                      <bool>true</bool>
-                     </property>
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="title">
-                      <string>Differential Steering Mix</string>
-                     </property>
-                     <layout class="QVBoxLayout" name="verticalLayout_33">
-                      <item>
-                       <layout class="QHBoxLayout" name="horizontalLayout_30">
-                        <item>
-                         <layout class="QVBoxLayout" name="verticalLayout_34">
-                          <item>
-                           <widget class="QLabel" name="differentialSteeringLabel1">
+                    <layout class="QVBoxLayout" name="verticalLayout_61">
+                     <item>
+                      <layout class="QHBoxLayout" name="horizontalLayout_31">
+                       <item>
+                        <widget class="QLabel" name="label_51">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="font">
+                          <font>
+                           <weight>75</weight>
+                           <bold>true</bold>
+                          </font>
+                         </property>
+                         <property name="text">
+                          <string>Vehicle type:</string>
+                         </property>
+                        </widget>
+                       </item>
+                       <item>
+                        <widget class="QComboBox" name="groundVehicleType"/>
+                       </item>
+                       <item>
+                        <spacer name="horizontalSpacer_31">
+                         <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>
+                     <item>
+                      <layout class="QHBoxLayout" name="horizontalLayout_33">
+                       <item>
+                        <widget class="QLabel" name="label_7">
+                         <property name="font">
+                          <font>
+                           <weight>75</weight>
+                           <bold>true</bold>
+                          </font>
+                         </property>
+                         <property name="text">
+                          <string>Channel Assignment</string>
+                         </property>
+                        </widget>
+                       </item>
+                       <item>
+                        <spacer name="horizontalSpacer_15">
+                         <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>
+                     <item>
+                      <layout class="QHBoxLayout" name="horizontalLayout_41">
+                       <item>
+                        <widget class="QGroupBox" name="groupBox_7">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>100</height>
+                          </size>
+                         </property>
+                         <property name="title">
+                          <string>Output channel asignmets</string>
+                         </property>
+                         <layout class="QFormLayout" name="formLayout_5">
+                          <item row="0" column="0">
+                           <widget class="QLabel" name="gvEngineLabel">
                             <property name="minimumSize">
                              <size>
-                              <width>65</width>
+                              <width>77</width>
                               <height>0</height>
                              </size>
                             </property>
                             <property name="text">
-                             <string>Left %</string>
+                             <string>Engine</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
                             </property>
                            </widget>
                           </item>
-                          <item>
-                           <widget class="QSlider" name="differentialSteeringSlider1">
-                            <property name="maximum">
-                             <number>100</number>
-                            </property>
-                            <property name="value">
-                             <number>50</number>
-                            </property>
-                            <property name="orientation">
-                             <enum>Qt::Vertical</enum>
+                          <item row="0" column="1">
+                           <widget class="QComboBox" name="gvEngineChannelBox">
+                            <property name="toolTip">
+                             <string>Select output channel for the engine</string>
                             </property>
                            </widget>
                           </item>
-                          <item>
-                           <widget class="QLabel" name="gvDiffSteering1Label">
-                            <property name="text">
-                             <string>50</string>
-                            </property>
-                           </widget>
-                          </item>
-                         </layout>
-                        </item>
-                        <item>
-                         <layout class="QVBoxLayout" name="verticalLayout_35">
-                          <item>
-                           <widget class="QLabel" name="differentialSteeringLabel2">
+                          <item row="1" column="0">
+                           <widget class="QLabel" name="gvAileron1Label">
                             <property name="minimumSize">
                              <size>
-                              <width>50</width>
+                              <width>60</width>
                               <height>0</height>
                              </size>
                             </property>
                             <property name="text">
-                             <string>Right %</string>
+                             <string>Aileron 1</string>
                             </property>
                            </widget>
                           </item>
-                          <item>
-                           <widget class="QSlider" name="differentialSteeringSlider2">
-                            <property name="maximum">
-                             <number>100</number>
-                            </property>
-                            <property name="value">
-                             <number>50</number>
-                            </property>
-                            <property name="orientation">
-                             <enum>Qt::Vertical</enum>
+                          <item row="1" column="1">
+                           <widget class="QComboBox" name="gvAileron1ChannelBox">
+                            <property name="toolTip">
+                             <string>Select output channel for the first aileron (or elevon)</string>
                             </property>
                            </widget>
                           </item>
-                          <item>
-                           <widget class="QLabel" name="gvDiffSteering2Label">
+                          <item row="2" column="0">
+                           <widget class="QLabel" name="gvAileron2Label">
+                            <property name="enabled">
+                             <bool>false</bool>
+                            </property>
+                            <property name="minimumSize">
+                             <size>
+                              <width>60</width>
+                              <height>0</height>
+                             </size>
+                            </property>
                             <property name="text">
-                             <string>50</string>
+                             <string>Aileron 2</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="2" column="1">
+                           <widget class="QComboBox" name="gvAileron2ChannelBox">
+                            <property name="enabled">
+                             <bool>false</bool>
+                            </property>
+                            <property name="toolTip">
+                             <string>Select output channel for the second aileron (or elevon)</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="3" column="0">
+                           <widget class="QLabel" name="gvMotor1Label">
+                            <property name="minimumSize">
+                             <size>
+                              <width>0</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="text">
+                             <string>Motor</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="3" column="1">
+                           <widget class="QComboBox" name="gvMotor1ChannelBox">
+                            <property name="toolTip">
+                             <string>Select output channel for the first motor</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="4" column="0">
+                           <widget class="QLabel" name="gvMotor2Label">
+                            <property name="enabled">
+                             <bool>false</bool>
+                            </property>
+                            <property name="minimumSize">
+                             <size>
+                              <width>47</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="text">
+                             <string>Motor 2</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="4" column="1">
+                           <widget class="QComboBox" name="gvMotor2ChannelBox">
+                            <property name="enabled">
+                             <bool>false</bool>
+                            </property>
+                            <property name="toolTip">
+                             <string>Select output channel for a second motor</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="5" column="0">
+                           <widget class="QLabel" name="gvSteering1Label">
+                            <property name="text">
+                             <string>Front Steering</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="5" column="1">
+                           <widget class="QComboBox" name="gvSteering1ChannelBox">
+                            <property name="toolTip">
+                             <string>Select output channel for the first steering actuator</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="6" column="0">
+                           <widget class="QLabel" name="gvSteering2Label">
+                            <property name="text">
+                             <string>Rear Steering</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item row="6" column="1">
+                           <widget class="QComboBox" name="gvSteering2ChannelBox">
+                            <property name="toolTip">
+                             <string>Select output channel for a second steering actuator</string>
                             </property>
                            </widget>
                           </item>
                          </layout>
-                        </item>
-                       </layout>
-                      </item>
-                     </layout>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QGroupBox" name="gvThrottleCurve1GroupBox">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>100</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="title">
-                      <string>Front throttle curve</string>
-                     </property>
-                     <layout class="QVBoxLayout" name="verticalLayout_36">
-                      <item>
-                       <widget class="MixerCurve" name="groundVehicleThrottle1" native="true">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                          <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>500</width>
-                          <height>500</height>
-                         </size>
-                        </property>
-                        <property name="sizeIncrement">
-                         <size>
-                          <width>10</width>
-                          <height>10</height>
-                         </size>
-                        </property>
-                        <property name="baseSize">
-                         <size>
-                          <width>300</width>
-                          <height>350</height>
-                         </size>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="title">
-                      <string>Rear throttle curve</string>
-                     </property>
-                     <layout class="QVBoxLayout" name="verticalLayout_37">
-                      <item>
-                       <widget class="MixerCurve" name="groundVehicleThrottle2" native="true">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                          <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>500</width>
-                          <height>500</height>
-                         </size>
-                        </property>
-                        <property name="sizeIncrement">
-                         <size>
-                          <width>10</width>
-                          <height>10</height>
-                         </size>
-                        </property>
-                        <property name="baseSize">
-                         <size>
-                          <width>300</width>
-                          <height>350</height>
-                         </size>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
-                    </widget>
+                        </widget>
+                       </item>
+                       <item>
+                        <widget class="QGroupBox" name="differentialSteeringMixBox">
+                         <property name="enabled">
+                          <bool>true</bool>
+                         </property>
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="title">
+                          <string>Differential Steering Mix</string>
+                         </property>
+                         <layout class="QVBoxLayout" name="verticalLayout_33">
+                          <item>
+                           <layout class="QHBoxLayout" name="horizontalLayout_30">
+                            <item>
+                             <layout class="QVBoxLayout" name="verticalLayout_34">
+                              <item>
+                               <widget class="QLabel" name="differentialSteeringLabel1">
+                                <property name="minimumSize">
+                                 <size>
+                                  <width>65</width>
+                                  <height>0</height>
+                                 </size>
+                                </property>
+                                <property name="text">
+                                 <string>Left %</string>
+                                </property>
+                               </widget>
+                              </item>
+                              <item>
+                               <widget class="QSlider" name="differentialSteeringSlider1">
+                                <property name="maximum">
+                                 <number>100</number>
+                                </property>
+                                <property name="value">
+                                 <number>50</number>
+                                </property>
+                                <property name="orientation">
+                                 <enum>Qt::Vertical</enum>
+                                </property>
+                               </widget>
+                              </item>
+                              <item>
+                               <widget class="QLabel" name="gvDiffSteering1Label">
+                                <property name="text">
+                                 <string>50</string>
+                                </property>
+                               </widget>
+                              </item>
+                             </layout>
+                            </item>
+                            <item>
+                             <layout class="QVBoxLayout" name="verticalLayout_35">
+                              <item>
+                               <widget class="QLabel" name="differentialSteeringLabel2">
+                                <property name="minimumSize">
+                                 <size>
+                                  <width>50</width>
+                                  <height>0</height>
+                                 </size>
+                                </property>
+                                <property name="text">
+                                 <string>Right %</string>
+                                </property>
+                               </widget>
+                              </item>
+                              <item>
+                               <widget class="QSlider" name="differentialSteeringSlider2">
+                                <property name="maximum">
+                                 <number>100</number>
+                                </property>
+                                <property name="value">
+                                 <number>50</number>
+                                </property>
+                                <property name="orientation">
+                                 <enum>Qt::Vertical</enum>
+                                </property>
+                               </widget>
+                              </item>
+                              <item>
+                               <widget class="QLabel" name="gvDiffSteering2Label">
+                                <property name="text">
+                                 <string>50</string>
+                                </property>
+                               </widget>
+                              </item>
+                             </layout>
+                            </item>
+                           </layout>
+                          </item>
+                         </layout>
+                        </widget>
+                       </item>
+                       <item>
+                        <widget class="QGroupBox" name="gvThrottleCurve1GroupBox">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                           <horstretch>0</horstretch>
+                           <verstretch>100</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="title">
+                          <string>Front throttle curve</string>
+                         </property>
+                         <layout class="QVBoxLayout" name="verticalLayout_36">
+                          <item>
+                           <widget class="MixerCurve" name="groundVehicleThrottle1" native="true">
+                            <property name="sizePolicy">
+                             <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                              <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>500</width>
+                              <height>500</height>
+                             </size>
+                            </property>
+                            <property name="sizeIncrement">
+                             <size>
+                              <width>10</width>
+                              <height>10</height>
+                             </size>
+                            </property>
+                            <property name="baseSize">
+                             <size>
+                              <width>300</width>
+                              <height>350</height>
+                             </size>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </widget>
+                       </item>
+                       <item>
+                        <widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="title">
+                          <string>Rear throttle curve</string>
+                         </property>
+                         <layout class="QVBoxLayout" name="verticalLayout_37">
+                          <item>
+                           <widget class="MixerCurve" name="groundVehicleThrottle2" native="true">
+                            <property name="sizePolicy">
+                             <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                              <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>500</width>
+                              <height>500</height>
+                             </size>
+                            </property>
+                            <property name="sizeIncrement">
+                             <size>
+                              <width>10</width>
+                              <height>10</height>
+                             </size>
+                            </property>
+                            <property name="baseSize">
+                             <size>
+                              <width>300</width>
+                              <height>350</height>
+                             </size>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </widget>
+                       </item>
+                      </layout>
+                     </item>
+                     <item>
+                      <spacer name="verticalSpacer_1">
+                       <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_28">
+                       <item>
+                        <spacer name="horizontalSpacer_21">
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="sizeHint" stdset="0">
+                          <size>
+                           <width>40</width>
+                           <height>20</height>
+                          </size>
+                         </property>
+                        </spacer>
+                       </item>
+                       <item>
+                        <widget class="QLabel" name="gvStatusLabel">
+                         <property name="font">
+                          <font>
+                           <weight>75</weight>
+                           <bold>true</bold>
+                          </font>
+                         </property>
+                         <property name="text">
+                          <string>Mixer OK</string>
+                         </property>
+                        </widget>
+                       </item>
+                      </layout>
+                     </item>
+                    </layout>
                    </item>
                   </layout>
-                 </item>
-                 <item>
-                  <spacer name="verticalSpacer_1">
-                   <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_28">
-                   <item>
-                    <spacer name="horizontalSpacer_21">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>40</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item>
-                    <widget class="QLabel" name="gvStatusLabel">
-                     <property name="font">
-                      <font>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Mixer OK</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                </layout>
+                 </widget>
+                </widget>
                </item>
               </layout>
              </widget>
@@ -2813,8 +2832,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>935</width>
-            <height>537</height>
+            <width>287</width>
+            <height>326</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -3203,6 +3222,7 @@ p, li { white-space: pre-wrap; }
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&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;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;&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;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
 &lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
@@ -3255,7 +3275,7 @@ p, li { white-space: pre-wrap; }
         <string/>
        </property>
        <property name="icon">
-        <iconset>
+        <iconset resource="../coreplugin/core.qrc">
          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
        </property>
        <property name="iconSize">
@@ -3308,7 +3328,7 @@ p, li { white-space: pre-wrap; }
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="E:/Users/Chris/Desktop/src/plugins/coreplugin/core.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections>
   <connection>

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

@@ -21,7 +21,10 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
    <property name="spacing">
-    <number>-1</number>
+    <number>6</number>
+   </property>
+   <property name="margin">
+    <number>12</number>
    </property>
    <item>
     <widget class="QTabWidget" name="Autotune_tabs">
@@ -33,42 +36,10 @@
        <string>Pre-Autotune</string>
       </attribute>
       <layout class="QGridLayout" name="gridLayout_5">
-       <property name="leftMargin">
+       <property name="margin">
         <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="horizontalSpacer_4">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item row="1" column="2">
-        <spacer name="horizontalSpacer_5">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item row="0" column="0" colspan="3">
+       <item row="3" column="0" colspan="3">
         <widget class="QTextEdit" name="textEdit">
          <property name="frameShape">
           <enum>QFrame::StyledPanel</enum>
@@ -80,28 +51,55 @@
           <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:'Lucida Grande'; font-size:13pt; 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-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;&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;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 style=&quot; font-weight:600;&quot;&gt;very very wary&lt;/span&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;/p&gt;
-&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Go to the UAVOBrowser and under HwSettings.OptionalModules enable Autotune.  Click send then save.  Power cycle your board (disconnect battery AND usb).&lt;br /&gt;&lt;/li&gt;
-&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;In Input configuration set one of your flight modes to &amp;quot;Autotune&amp;quot;&lt;br /&gt;&lt;/li&gt;
-&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Take off, flip to autotune, keep it in the air while it's shaking&lt;br /&gt;&lt;/li&gt;
-&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Land and disarm.  (note - you &lt;span style=&quot; font-weight:600;&quot;&gt;MUST&lt;/span&gt; stay in autotune mode through this point, leaving autotune before disarming aborts the process)&lt;br /&gt;&lt;/li&gt;
-&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;We'd recommend checking your stabilization settings before trying them out. &lt;br /&gt;&lt;/li&gt;
-&lt;li style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Test fly then new settings&lt;/li&gt;
-&lt;li style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you're ready to proceed, click the &amp;quot;Enable Autotune Module&amp;quot; checkbox below this text, and go to the next tab.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&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;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;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;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;On the &lt;span style=&quot; font-style:italic;&quot;&gt;Input configuration&lt;/span&gt; tab, &lt;span style=&quot; font-style:italic;&quot;&gt;Flight Mode Switch Settings&lt;/span&gt;, set one of your flight modes to &amp;quot;Autotune&amp;quot;.&lt;br /&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Take off, change flight mode to autotune, keep it in the air while it's shaking.&lt;br /&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Land and disarm.  (note - you &lt;span style=&quot; font-weight:600;&quot;&gt;MUST&lt;/span&gt; stay in autotune mode through this point, leaving autotune before disarming aborts the process)&lt;br /&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).&lt;br /&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Test fly the new settings.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you're ready to proceed, click the &lt;span style=&quot; font-style:italic;&quot;&gt;Enable Autotune Module&lt;/span&gt; checkbox above this text, click &lt;span style=&quot; font-style:italic;&quot;&gt;save&lt;/span&gt; and go to the next tab.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
         </widget>
        </item>
-       <item row="1" column="1">
-        <widget class="QCheckBox" name="enableAutoTune">
-         <property name="text">
-          <string>Enable Autotune Module</string>
-         </property>
-         <property name="checkable">
-          <bool>true</bool>
+       <item row="2" column="0" colspan="3">
+        <widget class="QGroupBox" name="groupBox_5">
+         <property name="title">
+          <string>Module Control</string>
          </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_3">
+          <item>
+           <widget class="QCheckBox" name="enableAutoTune">
+            <property name="text">
+             <string>Enable Autotune Module</string>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="horizontalSpacer_5">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>454</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+         <zorder>horizontalSpacer_5</zorder>
+         <zorder>enableAutoTune</zorder>
+         <zorder>horizontalSpacer_4</zorder>
+         <zorder>enableAutoTune</zorder>
+         <zorder>horizontalSpacer_5</zorder>
         </widget>
        </item>
       </layout>
@@ -194,8 +192,8 @@ p, li { white-space: pre-wrap; }
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>709</width>
-            <height>588</height>
+            <width>711</width>
+            <height>596</height>
            </rect>
           </property>
           <property name="sizePolicy">
@@ -690,8 +688,6 @@ Useful if you have accidentally changed some settings.</string>
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>

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

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>942</width>
-    <height>692</height>
+    <width>786</width>
+    <height>566</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -26,9 +26,6 @@
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_5">
-   <property name="margin">
-    <number>12</number>
-   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="sizePolicy">
@@ -67,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>912</width>
-            <height>598</height>
+            <width>741</width>
+            <height>559</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -407,7 +404,7 @@ margin:1px;</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_8">
               <property name="verticalSpacing">
-               <number>-1</number>
+               <number>6</number>
               </property>
               <item row="0" column="3">
                <widget class="QLabel" name="label_32">
@@ -1032,24 +1029,24 @@ value.</string>
     </widget>
    </item>
    <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <property name="spacing">
+    <layout class="QGridLayout" name="gridLayout">
+     <property name="horizontalSpacing">
       <number>4</number>
      </property>
-     <item>
+     <item row="0" column="0">
       <spacer name="horizontalSpacer">
        <property name="orientation">
         <enum>Qt::Horizontal</enum>
        </property>
        <property name="sizeHint" stdset="0">
         <size>
-         <width>321</width>
-         <height>16</height>
+         <width>288</width>
+         <height>18</height>
         </size>
        </property>
       </spacer>
      </item>
-     <item>
+     <item row="0" column="1">
       <widget class="QPushButton" name="camerastabilizationHelp">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -1098,7 +1095,7 @@ value.</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="2">
       <widget class="QPushButton" name="camerastabilizationResetToDefaults">
        <property name="minimumSize">
         <size>
@@ -1129,7 +1126,7 @@ Apply or Save button afterwards.</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="3">
       <widget class="QPushButton" name="pushButton">
        <property name="minimumSize">
         <size>
@@ -1162,7 +1159,7 @@ Apply or Save button afterwards.</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="4">
       <widget class="QPushButton" name="camerastabilizationSaveRAM">
        <property name="minimumSize">
         <size>
@@ -1189,7 +1186,7 @@ Apply or Save button afterwards.</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="5">
       <widget class="QPushButton" name="camerastabilizationSaveSD">
        <property name="minimumSize">
         <size>

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

@@ -49,7 +49,7 @@ const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChanne
 /**
  Constructor
  */
-ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
+ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent), invertMotors(1)
 {
     m_aircraft = aircraft;
 }
@@ -87,20 +87,18 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 
     if (frameType == "Tri" || frameType == "Tricopter Y") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
-        quad->setElementId("tri");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
 
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(100);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
 
         m_aircraft->triYawChannelBox->setEnabled(true);
     }
     else if (frameType == "QuadX" || frameType == "Quad X") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
-        quad->setElementId("quad-x");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
@@ -108,104 +106,173 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         // init mixer levels
         m_aircraft->mrRollMixLevel->setValue(50);
         m_aircraft->mrPitchMixLevel->setValue(50);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
     }
     else if (frameType == "QuadP" || frameType == "Quad +") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
-        quad->setElementId("quad-plus");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
 
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(100);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
     }
     else if (frameType == "Hexa" || frameType == "Hexacopter")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
-        quad->setElementId("quad-hexa");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
         m_aircraft->mrRollMixLevel->setValue(50);
         m_aircraft->mrPitchMixLevel->setValue(33);
-        m_aircraft->mrYawMixLevel->setValue(33);
+        setYawMixLevel(33);
     }
     else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
-        quad->setElementId("quad-hexa-H");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
         m_aircraft->mrRollMixLevel->setValue(33);
         m_aircraft->mrPitchMixLevel->setValue(50);
-        m_aircraft->mrYawMixLevel->setValue(33);
+        setYawMixLevel(33);
 
     }
     else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
-        quad->setElementId("hexa-coax");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(50);
-        m_aircraft->mrYawMixLevel->setValue(66);
+        setYawMixLevel(66);
 
     }
     else if (frameType == "Octo" || frameType == "Octocopter")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
-        quad->setElementId("quad-octo");
 
         //Enable all necessary motor channel boxes
         enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
         m_aircraft->mrRollMixLevel->setValue(33);
         m_aircraft->mrPitchMixLevel->setValue(33);
-        m_aircraft->mrYawMixLevel->setValue(25);
+        setYawMixLevel(25);
     }
     else if (frameType == "OctoV" || frameType == "Octocopter V")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
-        quad->setElementId("quad-octo-v");
 
         //Enable all necessary motor channel boxes
         enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
         m_aircraft->mrRollMixLevel->setValue(25);
         m_aircraft->mrPitchMixLevel->setValue(25);
-        m_aircraft->mrYawMixLevel->setValue(25);
+        setYawMixLevel(25);
 
     }
     else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
-        quad->setElementId("octo-coax-P");
 
         //Enable all necessary motor channel boxes
         enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(100);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
 
     }
     else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
-        quad->setElementId("octo-coax-X");
 
+        //Enable all necessary motor channel boxes
         enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
         m_aircraft->mrRollMixLevel->setValue(50);
         m_aircraft->mrPitchMixLevel->setValue(50);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
+    }
+
+    //Draw the appropriate airframe
+    drawAirframe(frameType);
+}
+
+void ConfigMultiRotorWidget::drawAirframe(QString frameType){
+
+    invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
+
+    if (frameType == "Tri" || frameType == "Tricopter Y") {
+        if(invertMotors > 0)
+            quad->setElementId("tri");
+        else
+            quad->setElementId("tri_reverse");
+    }
+    else if (frameType == "QuadX" || frameType == "Quad X") {
+        if(invertMotors > 0)
+            quad->setElementId("quad-x");
+        else
+            quad->setElementId("quad-x_reverse");
+    }
+    else if (frameType == "QuadP" || frameType == "Quad +") {
+        if(invertMotors > 0)
+            quad->setElementId("quad-plus");
+        else
+            quad->setElementId("quad-plus_reverse");
+    }
+    else if (frameType == "Hexa" || frameType == "Hexacopter")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("quad-hexa");
+        else
+            quad->setElementId("quad-hexa_reverse");
+    }
+    else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
+        if(invertMotors > 0)
+            quad->setElementId("quad-hexa-H");
+        else
+            quad->setElementId("quad-hexa-H_reverse");
+    }
+    else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("hexa-coax");
+        else
+            quad->setElementId("hexa-coax_reverse");
+    }
+    else if (frameType == "Octo" || frameType == "Octocopter")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("quad-octo");
+        else
+            quad->setElementId("quad-octo_reverse");
+    }
+    else if (frameType == "OctoV" || frameType == "Octocopter V")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("quad-octo-v");
+        else
+            quad->setElementId("quad-octo-v_reverse");
+    }
+    else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("octo-coax-P");
+        else
+            quad->setElementId("octo-coax-P_reverse");
+
+    }
+    else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("octo-coax-X");
+        else
+            quad->setElementId("octo-coax-X_reverse");
 
     }
 }
@@ -259,6 +326,21 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
     return channelDesc;
 }
 
+void ConfigMultiRotorWidget::setYawMixLevel(int value)
+{
+    if(value<0)
+    {
+        m_aircraft->mrYawMixLevel->setValue((-1)*value);
+        m_aircraft->MultirotorRevMixercheckBox->setChecked(true);
+    }
+    else
+    {
+        m_aircraft->mrYawMixLevel->setValue(value);
+        m_aircraft->MultirotorRevMixercheckBox->setChecked(false);
+    }
+
+}
+
 
 
 
@@ -500,7 +582,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
+            setYawMixLevel( 1-value/1.27 );
 
             channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@@ -526,7 +608,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
+            setYawMixLevel( 1-value/1.27 );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( value/1.27);
@@ -556,7 +638,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+            setYawMixLevel( floor(-value/1.27) );
 
             //change channels
             channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@@ -589,7 +671,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+            setYawMixLevel( floor(-value/1.27) );
 
             channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@@ -617,7 +699,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( value/1.27 );
+            setYawMixLevel( value/1.27 );
 
             channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@@ -648,7 +730,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
                 m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
                 value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-                m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+                setYawMixLevel( floor(-value/1.27) );
 
                 //change channels
                 channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@@ -660,7 +742,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
                 m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
                 value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-                m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+                setYawMixLevel( floor(-value/1.27) );
 
                 //change channels
                 channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@@ -672,7 +754,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
                 m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
                 value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-                m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+                setYawMixLevel( floor(-value/1.27) );
 
                 //change channels
                 channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
@@ -705,7 +787,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+            setYawMixLevel( floor(-value/1.27) );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
@@ -732,6 +814,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
 
         }
     }
+
+    drawAirframe(frameType);
 }
 
 
@@ -959,7 +1043,8 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
     // and enable only the relevant channels:
     double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
     double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
-    double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
+    invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
+    double yFactor =invertMotors * (double)m_aircraft->mrYawMixLevel->value()/100;
     for (int i=0 ; i<8; i++) {
         if(mmList.at(i)->isEnabled())
         {

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

@@ -64,9 +64,14 @@ private:
     void setupMotors(QList<QString> motorList);
     void setupQuadMotor(int channel, double roll, double pitch, double yaw);
 
+    float invertMotors;
+
     virtual void ResetActuators(GUIConfigDataUnion* configData);
     static QStringList getChannelDescriptions();
     static const QString CHANNELBOXNAME;
+    void setYawMixLevel(int);
+
+    void drawAirframe(QString multiRotorType);
 
 private slots:
     virtual void setupUI(QString airframeType);

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

@@ -13,6 +13,7 @@
 #include "relaytuningsettings.h"
 #include "relaytuning.h"
 #include "stabilizationsettings.h"
+#include "hwsettings.h"
 
 ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     ConfigTaskWidget(parent)
@@ -28,6 +29,9 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     connect(m_autotune->rateTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
     connect(m_autotune->attitudeTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
 
+    addUAVObject("HwSettings");
+    addWidget(m_autotune->enableAutoTune);
+
     RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
     Q_ASSERT(relayTuning);
     if(relayTuning)
@@ -134,3 +138,25 @@ 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)
+{
+    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);
+    }
+    ConfigTaskWidget::refreshWidgetsValues(obj);
+}
+void ConfigAutotuneWidget::updateObjectsFromWidgets()
+{
+    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();
+}

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

@@ -51,7 +51,8 @@ private:
 signals:
 
 public slots:
-
+    void refreshWidgetsValues(UAVObject *obj);
+    void updateObjectsFromWidgets();
 private slots:
     void recomputeStabilization();
     void saveStabilization();

ground/openpilotgcs/src/plugins/config/configgadget.qrc

@@ -1,23 +1,32 @@
 <RCC>
     <qresource prefix="/configgadget">
         <file>images/help2.png</file>
-        <file>images/Airframe.png</file>
-        <file>images/Servo.png</file>
         <file>images/ahrs-calib.svg</file>
-        <file>images/AHRS-v1.3.png</file>
         <file>images/paper-plane.svg</file>
         <file>images/curve-bg.svg</file>
         <file>images/multirotor-shapes.svg</file>
         <file>images/ccpm_setup.svg</file>
         <file>images/PipXtreme.png</file>
-        <file>images/Transmitter.png</file>
         <file>images/help.png</file>
         <file>images/coptercontrol.svg</file>
-        <file>images/hw_config.png</file>
-        <file>images/gyroscope.png</file>
-        <file>images/TX.svg</file>
         <file>images/TX2.svg</file>
-        <file>images/camera.png</file>
-        <file>images/txpid.png</file>
+        <file>images/output_selected.png</file>
+        <file>images/output_normal.png</file>
+        <file>images/input_selected.png</file>
+        <file>images/input_normal.png</file>
+        <file>images/hardware_normal.png</file>
+        <file>images/hardware_selected.png</file>
+        <file>images/vehicle_normal.png</file>
+        <file>images/vehicle_selected.png</file>
+        <file>images/ins_selected.png</file>
+        <file>images/ins_normal.png</file>
+        <file>images/stabilization_selected.png</file>
+        <file>images/stabilization_normal.png</file>
+        <file>images/autotune_selected.png</file>
+        <file>images/autotune_normal.png</file>
+        <file>images/txpid_selected.png</file>
+        <file>images/txpid_normal.png</file>
+        <file>images/camstab_selected.png</file>
+        <file>images/camstab_normal.png</file>
     </qresource>
 </RCC>

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

@@ -25,14 +25,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "configgadgetfactory.h"
-#include "configgadgetwidget.h"
 #include "configgadget.h"
 #include "configgadgetconfiguration.h"
 #include "configgadgetoptionspage.h"
 #include <coreplugin/iuavgadget.h>
+#include <coreplugin/coreconstants.h>
+#include <coreplugin/actionmanager/actionmanager.h>
+#include <coreplugin/icore.h>
+#include <coreplugin/modemanager.h>
 
 ConfigGadgetFactory::ConfigGadgetFactory(QObject *parent) :
-        IUAVGadgetFactory(QString("ConfigGadget"), tr("Config Gadget"), parent)
+    IUAVGadgetFactory(QString("ConfigGadget"), tr("Config Gadget"), parent),
+    gadgetWidget(0)
 {
 }
 
@@ -42,7 +46,26 @@ ConfigGadgetFactory::~ConfigGadgetFactory()
 
 Core::IUAVGadget* ConfigGadgetFactory::createGadget(QWidget *parent)
 {
-    ConfigGadgetWidget* gadgetWidget = new ConfigGadgetWidget(parent);
+    gadgetWidget = new ConfigGadgetWidget(parent);
+
+    // Add Menu entry
+    Core::ActionManager* am = Core::ICore::instance()->actionManager();
+    Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_TOOLS);
+
+    Core::Command* cmd = am->registerAction(new QAction(this),
+                                            "ConfigPlugin.ShowInputWizard",
+                                            QList<int>() <<
+                                            Core::Constants::C_GLOBAL_ID);
+    cmd->setDefaultKeySequence(QKeySequence("Ctrl+R"));
+    cmd->action()->setText(tr("Radio Setup Wizard"));
+
+    Core::ModeManager::instance()->addAction(cmd, 1);
+
+    ac->appendGroup("Wizard");
+    ac->addAction(cmd, "Wizard");
+
+    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(startInputWizard()));
+
     return new ConfigGadget(QString("ConfigGadget"), gadgetWidget, parent);
 }
 
@@ -55,3 +78,12 @@ IOptionsPage *ConfigGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *co
 {
     return new ConfigGadgetOptionsPage(qobject_cast<ConfigGadgetConfiguration*>(config));
 }
+
+void ConfigGadgetFactory::startInputWizard()
+{
+    if(gadgetWidget)
+    {
+        Core::ModeManager::instance()->activateModeByWorkspaceName("Configuration");
+        gadgetWidget->startInputWizard();
+    }
+}

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

@@ -28,6 +28,9 @@
 #define CONFIGGADGETFACTORY_H
 
 #include <coreplugin/iuavgadgetfactory.h>
+#include "configgadgetwidget.h"
+#include "config_global.h"
+
 
 namespace Core {
 class IUAVGadget;
@@ -36,7 +39,7 @@ class IUAVGadgetFactory;
 
 using namespace Core;
 
-class ConfigGadgetFactory:  public Core::IUAVGadgetFactory
+class CONFIG_EXPORT ConfigGadgetFactory:  public Core::IUAVGadgetFactory
 {
    Q_OBJECT
 public:
@@ -47,6 +50,12 @@ public:
     IUAVGadget *createGadget(QWidget *parent);
     IUAVGadgetConfiguration *createConfiguration(QSettings* qSettings);
     IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
+
+public slots:
+    void startInputWizard();
+
+private:
+    ConfigGadgetWidget* gadgetWidget;
 };
 
 #endif // CONFIGGADGETFACTORY_H

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

@@ -67,33 +67,61 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     // *********************
     QWidget *qwd;
 
+    QIcon *icon = new QIcon();
+    icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new DefaultHwSettingsWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
+    ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
 
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/vehicle_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/vehicle_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new ConfigVehicleTypeWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, QIcon(":/configgadget/images/Airframe.png"), QString("Aircraft"));
+    ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, *icon, QString("Vehicle"));
 
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/input_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/input_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new ConfigInputWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::input, qwd, QIcon(":/configgadget/images/Transmitter.png"), QString("Input"));
+    ftw->insertTab(ConfigGadgetWidget::input, qwd, *icon, QString("Input"));
 
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/output_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/output_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new ConfigOutputWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::output, qwd, QIcon(":/configgadget/images/Servo.png"), QString("Output"));
+    ftw->insertTab(ConfigGadgetWidget::output, qwd, *icon, QString("Output"));
 
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new DefaultAttitudeWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
+    ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("INS"));
 
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/stabilization_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/stabilization_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new ConfigStabilizationWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, QIcon(":/configgadget/images/gyroscope.png"), QString("Stabilization"));
+    ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
 
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/autotune_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/autotune_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new ConfigAutotuneWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::autotune, qwd, QIcon(":/configgadget/images/gyroscope.png"), QString("Autotune"));
+    ftw->insertTab(ConfigGadgetWidget::autotune, qwd, *icon, QString("Autotune"));
 
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new ConfigCameraStabilizationWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, QIcon(":/configgadget/images/camera.png"), QString("Camera Stab"));
+    ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, *icon, QString("Camera Stab"));
 
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/txpid_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/txpid_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new ConfigTxPIDWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::txpid, qwd, QIcon(":/configgadget/images/txpid.png"), QString("TxPID"));
+    ftw->insertTab(ConfigGadgetWidget::txpid, qwd, *icon, QString("TxPID"));
 
+    ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
     // *********************
     // Listen to autopilot connection events
 
@@ -103,8 +131,9 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
 
     // And check whether by any chance we are not already connected
-    if (telMngr->isConnected())
+    if (telMngr->isConnected()) {
         onAutopilotConnect();    
+    }
 
     help = 0;
     connect(ftw,SIGNAL(currentAboutToShow(int,bool*)),this,SLOT(tabAboutToChange(int,bool*)));//,Qt::BlockingQueuedConnection);
@@ -115,7 +144,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     if (pipxStatusObj != NULL ) {
         connect(pipxStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updatePipXStatus(UAVObject*)));
     } else {
-	qDebug() << "Error: Object is unknown (PipXStatus).";
+        qDebug() << "Error: Object is unknown (PipXStatus).";
     }
 
     // Create the timer that is used to timeout the connection to the PipX.
@@ -126,25 +155,38 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
 
 ConfigGadgetWidget::~ConfigGadgetWidget()
 {
-   // Do nothing
-
     // TODO: properly delete all the tabs in ftw before exiting
 }
 
+void ConfigGadgetWidget::startInputWizard()
+{
+    ftw->setCurrentIndex(ConfigGadgetWidget::input);
+    ConfigInputWidget* inputWidget = dynamic_cast<ConfigInputWidget*>(ftw->getWidget(ConfigGadgetWidget::input));
+    Q_ASSERT(inputWidget);
+    inputWidget->startInputWizard();
+}
+
 void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
 {
-
     QWidget::resizeEvent(event);
 }
 
 void ConfigGadgetWidget::onAutopilotDisconnect() {
     ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
     ftw->removeTab(ConfigGadgetWidget::sensors);
+
+    QIcon *icon = new QIcon();
+    icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     QWidget *qwd = new DefaultAttitudeWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
+    ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("INS"));
     ftw->removeTab(ConfigGadgetWidget::hardware);
+
+    icon = new QIcon();
+    icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+    icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new DefaultHwSettingsWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
+    ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
     ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
 
     emit autopilotDisconnected();
@@ -164,56 +206,64 @@ void ConfigGadgetWidget::onAutopilotConnect() {
             // Delete the INS panel, replace with CC Panel:
             ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
             ftw->removeTab(ConfigGadgetWidget::sensors);
+
+            QIcon *icon = new QIcon();
+            icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+            icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
             QWidget *qwd = new ConfigCCAttitudeWidget(this);
-            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("Attitude"));
+            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("INS"));
             ftw->removeTab(ConfigGadgetWidget::hardware);
+
+            icon = new QIcon();
+            icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+            icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
             qwd = new ConfigCCHWWidget(this);
-            ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
+            ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
             ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
-        } else if ((board & 0xff00) == 256 ) {
-            // Mainboard family
-            Q_ASSERT(0);
-            /*
-            ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
-            ftw->removeTab(ConfigGadgetWidget::sensors);
-            QWidget *qwd = new ConfigAHRSWidget(this);
-            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
-            ftw->removeTab(ConfigGadgetWidget::hardware);
-            qwd = new ConfigProHWWidget(this);
-            ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
-            ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
-            */
         } else if ((board & 0xff00) == 0x0900) {
             // Revolution sensor calibration
             ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
             ftw->removeTab(ConfigGadgetWidget::sensors);
+
+            QIcon *icon = new QIcon();
+            icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+            icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
             QWidget *qwd = new ConfigRevoWidget(this);
-            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("Revo"));
+            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Revo"));
             ftw->removeTab(ConfigGadgetWidget::hardware);
+
+            icon = new QIcon();
+            icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
+            icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Normal, QIcon::On);
             qwd = new ConfigProHWWidget(this);
-            ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
+            ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
             ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
+        } else {
+            //Unknown board
+            Q_ASSERT(0);
         }
     }
     emit autopilotConnected();
 }
 
-void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
+void ConfigGadgetWidget::tabAboutToChange(int i, bool * proceed)
 {
     Q_UNUSED(i);
-    *proceed=true;
-    ConfigTaskWidget * wid=qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
-    if(!wid)
+    *proceed = true;
+    ConfigTaskWidget * wid = qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
+    if(!wid) {
         return;
+    }
     if(wid->isDirty())
     {
         int ans=QMessageBox::warning(this,tr("Unsaved changes"),tr("The tab you are leaving has unsaved changes,"
                                                            "if you proceed they will be lost."
                                                            "Do you still want to proceed?"),QMessageBox::Yes,QMessageBox::No);
-        if(ans==QMessageBox::No)
+        if(ans==QMessageBox::No) {
             *proceed=false;
-        else
+        } else {
             wid->setDirty(false);
+        }
     }
 }
 

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

@@ -49,6 +49,7 @@ public:
     ConfigGadgetWidget(QWidget *parent = 0);
     ~ConfigGadgetWidget();
     enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme, autotune};
+    void startInputWizard();
 
 public slots:
     void onAutopilotConnect();

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

@@ -1,1349 +1,1358 @@
-/**
- ******************************************************************************
- *
- * @file       configinputwidget.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup ConfigPlugin Config Plugin
- * @{
- * @brief Servo input/output configuration panel for the config gadget
- *****************************************************************************/
-/*
- * 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 "configinputwidget.h"
-
-#include "uavtalk/telemetrymanager.h"
-
-#include <QDebug>
-#include <QStringList>
-#include <QtGui/QWidget>
-#include <QtGui/QTextEdit>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QPushButton>
-#include <QDesktopServices>
-#include <QUrl>
-#include <QMessageBox>
-#include <utils/stylehelper.h>
-#include <QMessageBox>
-
-#include <extensionsystem/pluginmanager.h>
-#include <coreplugin/generalsettings.h>
-
-#define ACCESS_MIN_MOVE -3
-#define ACCESS_MAX_MOVE 3
-#define STICK_MIN_MOVE -8
-#define STICK_MAX_MOVE 8
-
-ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
-{
-    manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
-    manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
-    flightStatusObj = FlightStatus::GetInstance(getObjectManager());
-    receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
-    m_config = new Ui_InputWidget();
-    m_config->setupUi(this);
-    
-    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
-
-    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
-    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
-    if(!settings->useExpertMode())
-        m_config->saveRCInputToRAM->setVisible(false);
-    
-    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
-
-	//Generate the rows of buttons in the input channel form GUI
-    unsigned int index=0;
-    foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
-    {
-        Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
-        inputChannelForm * inpForm=new inputChannelForm(this,index==0);
-        m_config->channelSettings->layout()->addWidget(inpForm); //Add the row to the UI
-        inpForm->setName(name);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inpForm->ui->channelGroup,index);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inpForm->ui->channelNumber,index);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
-        ++index;
-    }
-
-    addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
-
-    connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
-    connect(m_config->stackedWidget,SIGNAL(currentChanged(int)),this,SLOT(disableWizardButton(int)));
-    connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
-
-    connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
-    connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
-    connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
-
-    m_config->stackedWidget->setCurrentIndex(0);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
-
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
-
-    addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
-    addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
-    connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
-    connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
-    enableControls(false);
-
-    populateWidgets();
-    refreshWidgetsValues();
-    // Connect the help button
-    connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-
-    m_config->graphicsView->setScene(new QGraphicsScene(this));
-    m_config->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
-    m_renderer = new QSvgRenderer();
-    QGraphicsScene *l_scene = m_config->graphicsView->scene();
-    m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
-    if (QFile::exists(":/configgadget/images/TX2.svg") && m_renderer->load(QString(":/configgadget/images/TX2.svg")) && m_renderer->isValid())
-    {
-        l_scene->clear(); // Deletes all items contained in the scene as well.
-
-        m_txBackground = new QGraphicsSvgItem();
-        // All other items will be clipped to the shape of the background
-        m_txBackground->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
-                                 QGraphicsItem::ItemClipsToShape);
-        m_txBackground->setSharedRenderer(m_renderer);
-        m_txBackground->setElementId("background");
-        l_scene->addItem(m_txBackground);
-
-        m_txMainBody = new QGraphicsSvgItem();
-        m_txMainBody->setParentItem(m_txBackground);
-        m_txMainBody->setSharedRenderer(m_renderer);
-        m_txMainBody->setElementId("body");
-        l_scene->addItem(m_txMainBody);
-
-        m_txLeftStick = new QGraphicsSvgItem();
-        m_txLeftStick->setParentItem(m_txBackground);
-        m_txLeftStick->setSharedRenderer(m_renderer);
-        m_txLeftStick->setElementId("ljoy");
-
-        m_txRightStick = new QGraphicsSvgItem();
-        m_txRightStick->setParentItem(m_txBackground);
-        m_txRightStick->setSharedRenderer(m_renderer);
-        m_txRightStick->setElementId("rjoy");
-
-        m_txAccess0 = new QGraphicsSvgItem();
-        m_txAccess0->setParentItem(m_txBackground);
-        m_txAccess0->setSharedRenderer(m_renderer);
-        m_txAccess0->setElementId("access0");
-
-        m_txAccess1 = new QGraphicsSvgItem();
-        m_txAccess1->setParentItem(m_txBackground);
-        m_txAccess1->setSharedRenderer(m_renderer);
-        m_txAccess1->setElementId("access1");
-
-        m_txAccess2 = new QGraphicsSvgItem();
-        m_txAccess2->setParentItem(m_txBackground);
-        m_txAccess2->setSharedRenderer(m_renderer);
-        m_txAccess2->setElementId("access2");
-
-        m_txFlightMode = new QGraphicsSvgItem();
-        m_txFlightMode->setParentItem(m_txBackground);
-        m_txFlightMode->setSharedRenderer(m_renderer);
-        m_txFlightMode->setElementId("flightModeCenter");
-        m_txFlightMode->setZValue(-10);
-
-        m_txArrows = new QGraphicsSvgItem();
-        m_txArrows->setParentItem(m_txBackground);
-        m_txArrows->setSharedRenderer(m_renderer);
-        m_txArrows->setElementId("arrows");
-        m_txArrows->setVisible(false);
-
-        QRectF orig=m_renderer->boundsOnElement("ljoy");
-        QMatrix Matrix = m_renderer->matrixForElement("ljoy");
-        orig=Matrix.mapRect(orig);
-        m_txLeftStickOrig.translate(orig.x(),orig.y());
-        m_txLeftStick->setTransform(m_txLeftStickOrig,false);
-
-        orig=m_renderer->boundsOnElement("arrows");
-        Matrix = m_renderer->matrixForElement("arrows");
-        orig=Matrix.mapRect(orig);
-        m_txArrowsOrig.translate(orig.x(),orig.y());
-        m_txArrows->setTransform(m_txArrowsOrig,false);
-
-        orig=m_renderer->boundsOnElement("body");
-        Matrix = m_renderer->matrixForElement("body");
-        orig=Matrix.mapRect(orig);
-        m_txMainBodyOrig.translate(orig.x(),orig.y());
-        m_txMainBody->setTransform(m_txMainBodyOrig,false);
-
-        orig=m_renderer->boundsOnElement("flightModeCenter");
-        Matrix = m_renderer->matrixForElement("flightModeCenter");
-        orig=Matrix.mapRect(orig);
-        m_txFlightModeCOrig.translate(orig.x(),orig.y());
-        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-
-        orig=m_renderer->boundsOnElement("flightModeLeft");
-        Matrix = m_renderer->matrixForElement("flightModeLeft");
-        orig=Matrix.mapRect(orig);
-        m_txFlightModeLOrig.translate(orig.x(),orig.y());
-        orig=m_renderer->boundsOnElement("flightModeRight");
-        Matrix = m_renderer->matrixForElement("flightModeRight");
-        orig=Matrix.mapRect(orig);
-        m_txFlightModeROrig.translate(orig.x(),orig.y());
-
-        orig=m_renderer->boundsOnElement("rjoy");
-        Matrix = m_renderer->matrixForElement("rjoy");
-        orig=Matrix.mapRect(orig);
-        m_txRightStickOrig.translate(orig.x(),orig.y());
-        m_txRightStick->setTransform(m_txRightStickOrig,false);
-
-        orig=m_renderer->boundsOnElement("access0");
-        Matrix = m_renderer->matrixForElement("access0");
-        orig=Matrix.mapRect(orig);
-        m_txAccess0Orig.translate(orig.x(),orig.y());
-        m_txAccess0->setTransform(m_txAccess0Orig,false);
-
-        orig=m_renderer->boundsOnElement("access1");
-        Matrix = m_renderer->matrixForElement("access1");
-        orig=Matrix.mapRect(orig);
-        m_txAccess1Orig.translate(orig.x(),orig.y());
-        m_txAccess1->setTransform(m_txAccess1Orig,false);
-
-        orig=m_renderer->boundsOnElement("access2");
-        Matrix = m_renderer->matrixForElement("access2");
-        orig=Matrix.mapRect(orig);
-        m_txAccess2Orig.translate(orig.x(),orig.y());
-        m_txAccess2->setTransform(m_txAccess2Orig,true);
-    }
-    m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
-    animate=new QTimer(this);
-    connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
-
-    heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
-                        ManualControlSettings::CHANNELGROUPS_THROTTLE <<
-                        ManualControlSettings::CHANNELGROUPS_ROLL <<
-                        ManualControlSettings::CHANNELGROUPS_PITCH <<
-                        ManualControlSettings::CHANNELGROUPS_YAW <<
-                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
-
-    acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
-                        ManualControlSettings::CHANNELGROUPS_ROLL <<
-                        ManualControlSettings::CHANNELGROUPS_PITCH <<
-                        ManualControlSettings::CHANNELGROUPS_YAW <<
-                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
-}
-void ConfigInputWidget::resetTxControls()
-{
-
-    m_txLeftStick->setTransform(m_txLeftStickOrig,false);
-    m_txRightStick->setTransform(m_txRightStickOrig,false);
-    m_txAccess0->setTransform(m_txAccess0Orig,false);
-    m_txAccess1->setTransform(m_txAccess1Orig,false);
-    m_txAccess2->setTransform(m_txAccess2Orig,false);
-    m_txFlightMode->setElementId("flightModeCenter");
-    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-    m_txArrows->setVisible(false);
-}
-
-ConfigInputWidget::~ConfigInputWidget()
-{
-
-}
-
-void ConfigInputWidget::resizeEvent(QResizeEvent *event)
-{
-    QWidget::resizeEvent(event);
-    m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
-}
-
-void ConfigInputWidget::openHelp()
-{
-
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/04Cf", QUrl::StrictMode) );
-}
-void ConfigInputWidget::goToWizard()
-{
-    QMessageBox msgBox;
-    msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
-    msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
-    msgBox.setStandardButtons(QMessageBox::Ok);
-    msgBox.setDefaultButton(QMessageBox::Ok);
-    msgBox.exec();
-    wizardSetUpStep(wizardWelcome);
-    m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
-}
-
-void ConfigInputWidget::disableWizardButton(int value)
-{
-    if(value!=0)
-        m_config->configurationWizard->setVisible(false);
-    else
-        m_config->configurationWizard->setVisible(true);
-}
-
-void ConfigInputWidget::wzCancel()
-{
-    dimOtherControls(false);
-    manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
-    m_config->stackedWidget->setCurrentIndex(0);
-
-    if(wizardStep != wizardNone)
-        wizardTearDownStep(wizardStep);
-    wizardStep=wizardNone;
-    m_config->stackedWidget->setCurrentIndex(0);
-
-    // Load settings back from beginning of wizard
-    manualSettingsObj->setData(previousManualSettingsData);
-}
-
-void ConfigInputWidget::wzNext()
-{
-    // In identify sticks mode the next button can indicate
-    // channel advance
-    if(wizardStep != wizardNone &&
-            wizardStep != wizardIdentifySticks)
-        wizardTearDownStep(wizardStep);
-
-    // State transitions for next button
-    switch(wizardStep) {
-    case wizardWelcome:
-        wizardSetUpStep(wizardChooseMode);
-        break;
-    case wizardChooseMode:
-        wizardSetUpStep(wizardChooseType);
-        break;
-    case wizardChooseType:
-        wizardSetUpStep(wizardIdentifySticks);
-        break;
-    case wizardIdentifySticks:
-        nextChannel();
-        if(currentChannelNum==-1) { // Gone through all channels
-            wizardTearDownStep(wizardIdentifySticks);
-            wizardSetUpStep(wizardIdentifyCenter);
-        }
-        break;
-    case wizardIdentifyCenter:
-        wizardSetUpStep(wizardIdentifyLimits);
-        break;
-    case wizardIdentifyLimits:
-        wizardSetUpStep(wizardIdentifyInverted);
-        break;
-    case wizardIdentifyInverted:
-        wizardSetUpStep(wizardFinish);
-        break;
-    case wizardFinish:
-        wizardStep=wizardNone;
-        m_config->stackedWidget->setCurrentIndex(0);
-        break;
-    default:
-        Q_ASSERT(0);
-    }
-}
-
-void ConfigInputWidget::wzBack()
-{
-    if(wizardStep != wizardNone &&
-            wizardStep != wizardIdentifySticks)
-        wizardTearDownStep(wizardStep);
-
-    // State transitions for next button
-    switch(wizardStep) {
-    case wizardChooseMode:
-        wizardSetUpStep(wizardWelcome);
-        break;
-    case wizardChooseType:
-        wizardSetUpStep(wizardChooseMode);
-        break;
-    case wizardIdentifySticks:
-        prevChannel();
-        if(currentChannelNum == -1) {
-            wizardTearDownStep(wizardIdentifySticks);
-            wizardSetUpStep(wizardChooseType);
-        }
-        break;
-    case wizardIdentifyCenter:
-        wizardSetUpStep(wizardIdentifySticks);
-        break;
-    case wizardIdentifyLimits:
-        wizardSetUpStep(wizardIdentifyCenter);
-        break;
-    case wizardIdentifyInverted:
-        wizardSetUpStep(wizardIdentifyLimits);
-        break;
-    case wizardFinish:
-        wizardSetUpStep(wizardIdentifyInverted);
-        break;
-    default:
-        Q_ASSERT(0);
-    }
-}
-
-void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
-{
-    switch(step) {
-    case wizardWelcome:
-        foreach(QPointer<QWidget> wd,extraWidgets)
-        {
-            if(!wd.isNull())
-                delete wd;
-        }
-        extraWidgets.clear();
-        m_config->graphicsView->setVisible(false);
-        setTxMovement(nothing);
-        manualSettingsData=manualSettingsObj->getData();
-        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
-        previousManualSettingsData = manualSettingsData;
-        manualSettingsObj->setData(manualSettingsData);
-        m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
-                                     "Please follow the instructions on the screen and only move your controls when asked to.\n"
-                                     "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
-                                     "You can press 'back' at any time to return to the previous screeen or press 'Cancel' to quit the wizard.\n"));
-        m_config->stackedWidget->setCurrentIndex(1);
-        m_config->wzBack->setEnabled(false);
-        break;
-    case wizardChooseMode:
-    {
-        m_config->graphicsView->setVisible(true);
-        m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
-        setTxMovement(nothing);
-        m_config->wzText->setText(tr("Please choose your transmitter type.\n"
-                                     "Mode 1 means your throttle stick is on the right.\n"
-                                     "Mode 2 means your throttle stick is on the left.\n"));
-        m_config->wzBack->setEnabled(true);
-        QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
-        QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
-        mode2->setChecked(true);
-        extraWidgets.clear();
-        extraWidgets.append(mode1);
-        extraWidgets.append(mode2);
-        m_config->checkBoxesLayout->layout()->addWidget(mode1);
-        m_config->checkBoxesLayout->layout()->addWidget(mode2);
-    }
-        break;
-    case wizardChooseType:
-    {
-        m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
-                                     "Acro means normal transmitter.\n"
-                                     "Heli means there is a collective pitch and throttle input.\n"
-                                     "If you are using a heli transmitter please engage throttle hold now.\n"));
-        m_config->wzBack->setEnabled(true);
-        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
-        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
-        typeAcro->setChecked(true);
-        typeHeli->setChecked(false);
-        extraWidgets.clear();
-        extraWidgets.append(typeAcro);
-        extraWidgets.append(typeHeli);
-        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
-        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
-        wizardStep=wizardChooseType;
-    }
-        break;
-    case wizardIdentifySticks:
-        usedChannels.clear();
-        currentChannelNum=-1;
-        nextChannel();
-        manualSettingsData=manualSettingsObj->getData();
-        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-        m_config->wzNext->setEnabled(false);
-        break;
-    case wizardIdentifyCenter:
-        setTxMovement(centerAll);
-        m_config->wzText->setText(QString(tr("Please center all controls and press next when ready (if your FlightMode switch has only two positions, leave it in either position).")));
-        break;
-    case wizardIdentifyLimits:
-    {
-        accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(),0);
-        accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
-        accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
-        setTxMovement(nothing);
-        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready.")));
-        fastMdata();
-        manualSettingsData=manualSettingsObj->getData();
-        for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
-        {
-            // Preserve the inverted status
-            if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
-                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
-                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
-            } else {
-                // Make this detect as still inverted
-                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
-                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
-            }
-        }
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-    }
-        break;
-    case wizardIdentifyInverted:
-        dimOtherControls(true);
-        setTxMovement(nothing);
-        extraWidgets.clear();
-
-        for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
-        {
-            QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
-            if(!name.contains("Access") &&  !name.contains("Flight"))
-            {
-                QCheckBox * cb=new QCheckBox(name,this);
-                // Make sure checked status matches current one
-                cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
-
-                extraWidgets.append(cb);
-                m_config->checkBoxesLayout->layout()->addWidget(cb);
-
-                connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-            }
-        }
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement, press next when ready.")));
-        fastMdata();
-        break;
-    case wizardFinish:
-        dimOtherControls(false);
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n"
-                                             "These new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can save the configuration.")));
-        fastMdata();
-
-        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
-                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
-                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
-                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
-        if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
-                (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
-        {
-            manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
-                    (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
-        }
-        manualSettingsObj->setData(manualSettingsData);
-        break;
-    default:
-        Q_ASSERT(0);
-    }
-    wizardStep = step;
-}
-
-void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
-{
-    QRadioButton * mode, * type;
-    Q_ASSERT(step == wizardStep);
-    switch(step) {
-    case wizardWelcome:
-        break;
-    case wizardChooseMode:
-        mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-        if(mode->isChecked())
-            transmitterMode=mode1;
-        else
-            transmitterMode=mode2;
-        delete extraWidgets.at(0);
-        delete extraWidgets.at(1);
-        extraWidgets.clear();
-        break;
-    case wizardChooseType:
-        type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-        if(type->isChecked())
-            transmitterType=acro;
-        else
-            transmitterType=heli;
-        delete extraWidgets.at(0);
-        delete extraWidgets.at(1);
-        extraWidgets.clear();
-        break;
-    case wizardIdentifySticks:
-        disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-        m_config->wzNext->setEnabled(true);
-        setTxMovement(nothing);
-        break;
-    case wizardIdentifyCenter:
-        manualCommandData=manualCommandObj->getData();
-        manualSettingsData=manualSettingsObj->getData();
-        for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
-        {
-            manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
-        }
-        manualSettingsObj->setData(manualSettingsData);
-        setTxMovement(nothing);
-        break;
-    case wizardIdentifyLimits:
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        manualSettingsObj->setData(manualSettingsData);
-        restoreMdata();
-        setTxMovement(nothing);
-        break;
-    case wizardIdentifyInverted:
-        dimOtherControls(false);
-        foreach(QWidget * wd,extraWidgets)
-        {
-            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
-            if(cb)
-            {
-                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-                delete cb;
-            }
-        }
-        extraWidgets.clear();
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        restoreMdata();
-        break;
-    case wizardFinish:
-        dimOtherControls(false);
-        setTxMovement(nothing);
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        restoreMdata();
-        break;
-    default:
-        Q_ASSERT(0);
-    }
-}
-
-/**
-  * Set manual control command to fast updates
-  */
-void ConfigInputWidget::fastMdata()
-{
-    manualControlMdata = manualCommandObj->getMetadata();
-    UAVObject::Metadata mdata = manualControlMdata;
-    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
-    mdata.flightTelemetryUpdatePeriod = 150;
-    manualCommandObj->setMetadata(mdata);
-}
-
-/**
-  * Restore previous update settings for manual control data
-  */
-void ConfigInputWidget::restoreMdata()
-{
-    manualCommandObj->setMetadata(manualControlMdata);
-}
-
-/**
-  * Set the display to indicate which channel the person should move
-  */
-void ConfigInputWidget::setChannel(int newChan)
-{
-    if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
-        m_config->wzText->setText(QString(tr("Please enable the throttle hold mode and move the collective pitch stick.")));
-    else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
-        m_config->wzText->setText(QString(tr("Please toggle the flight mode switch. For switches you may have to repeat this rapidly.")));
-    else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
-        m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick.")));
-    else
-        m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
-                                 "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
-
-    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
-       manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
-        m_config->wzNext->setEnabled(true);
-        m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
-    } else
-        m_config->wzNext->setEnabled(false);
-
-    setMoveFromCommand(newChan);
-
-    currentChannelNum = newChan;
-    channelDetected = false;
-}
-
-/**
-  * Unfortunately order of channel should be different in different conditions.  Selects
-  * next channel based on heli or acro mode
-  */
-void ConfigInputWidget::nextChannel()
-{
-    QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
-
-    if(currentChannelNum == -1) {
-        setChannel(order[0]);
-        return;
-    }
-    for (int i = 0; i < order.length() - 1; i++) {
-        if(order[i] == currentChannelNum) {
-            setChannel(order[i+1]);
-            return;
-        }
-    }
-    currentChannelNum = -1; // hit end of list
-}
-
-/**
-  * Unfortunately order of channel should be different in different conditions.  Selects
-  * previous channel based on heli or acro mode
-  */
-void ConfigInputWidget::prevChannel()
-{
-    QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
-
-    // No previous from unset channel or next state
-    if(currentChannelNum == -1)
-        return;
-
-    for (int i = 1; i < order.length(); i++) {
-        if(order[i] == currentChannelNum) {
-            setChannel(order[i-1]);
-            usedChannels.removeLast();
-            return;
-        }
-    }
-    currentChannelNum = -1; // hit end of list
-}
-
-void ConfigInputWidget::identifyControls()
-{
-    static int debounce=0;
-
-    receiverActivityData=receiverActivityObj->getData();
-    if(receiverActivityData.ActiveChannel==255)
-        return;
-    if(channelDetected)
-        return;
-    else
-    {
-        receiverActivityData=receiverActivityObj->getData();
-        currentChannel.group=receiverActivityData.ActiveGroup;
-        currentChannel.number=receiverActivityData.ActiveChannel;
-        if(currentChannel==lastChannel)
-            ++debounce;
-        lastChannel.group= currentChannel.group;
-        lastChannel.number=currentChannel.number;
-        if(!usedChannels.contains(lastChannel) && debounce>1)
-        {
-            channelDetected = true;
-            debounce=0;
-            usedChannels.append(lastChannel);
-            manualSettingsData=manualSettingsObj->getData();
-            manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
-            manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
-            manualSettingsObj->setData(manualSettingsData);
-        }
-        else
-            return;
-    }
-
-    m_config->wzText->clear();
-    setTxMovement(nothing);
-
-    QTimer::singleShot(2500, this, SLOT(wzNext()));
-}
-
-void ConfigInputWidget::identifyLimits()
-{
-    manualCommandData=manualCommandObj->getData();
-    for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
-    {
-        if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
-            // Non inverted channel
-            if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
-                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
-            if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
-                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
-        } else {
-            // Inverted channel
-            if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
-                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
-            if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
-                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
-        }
-    }
-    manualSettingsObj->setData(manualSettingsData);
-}
-void ConfigInputWidget::setMoveFromCommand(int command)
-{
-    //CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem;
-    if(command==ManualControlSettings::CHANNELNUMBER_ROLL)
-    {
-            setTxMovement(moveRightHorizontalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
-    {
-        if(transmitterMode==mode2)
-            setTxMovement(moveRightVerticalStick);
-        else
-            setTxMovement(moveLeftVerticalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
-    {
-            setTxMovement(moveLeftHorizontalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
-    {
-        if(transmitterMode==mode2)
-            setTxMovement(moveLeftVerticalStick);
-        else
-            setTxMovement(moveRightVerticalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
-    {
-        if(transmitterMode==mode2)
-            setTxMovement(moveLeftVerticalStick);
-        else
-            setTxMovement(moveRightVerticalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
-    {
-        setTxMovement(moveFlightMode);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0)
-    {
-        setTxMovement(moveAccess0);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1)
-    {
-        setTxMovement(moveAccess1);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2)
-    {
-        setTxMovement(moveAccess2);
-    }
-
-}
-
-void ConfigInputWidget::setTxMovement(txMovements movement)
-{
-    resetTxControls();
-    switch(movement)
-    {
-    case moveLeftVerticalStick:
-        movePos=0;
-        growing=true;
-        currentMovement=moveLeftVerticalStick;
-        animate->start(100);
-        break;
-    case moveRightVerticalStick:
-        movePos=0;
-        growing=true;
-        currentMovement=moveRightVerticalStick;
-        animate->start(100);
-        break;
-    case moveLeftHorizontalStick:
-        movePos=0;
-        growing=true;
-        currentMovement=moveLeftHorizontalStick;
-        animate->start(100);
-        break;
-    case moveRightHorizontalStick:
-        movePos=0;
-        growing=true;
-        currentMovement=moveRightHorizontalStick;
-        animate->start(100);
-        break;
-    case moveAccess0:
-        movePos=0;
-        growing=true;
-        currentMovement=moveAccess0;
-        animate->start(100);
-        break;
-    case moveAccess1:
-        movePos=0;
-        growing=true;
-        currentMovement=moveAccess1;
-        animate->start(100);
-        break;
-    case moveAccess2:
-        movePos=0;
-        growing=true;
-        currentMovement=moveAccess2;
-        animate->start(100);
-        break;
-    case moveFlightMode:
-        movePos=0;
-        growing=true;
-        currentMovement=moveFlightMode;
-        animate->start(1000);
-        break;
-    case centerAll:
-        movePos=0;
-        currentMovement=centerAll;
-        animate->start(1000);
-        break;
-    case moveAll:
-        movePos=0;
-        growing=true;
-        currentMovement=moveAll;
-        animate->start(50);
-        break;
-    case nothing:
-        movePos=0;
-        animate->stop();
-        break;
-    default:
-        break;
-    }
-}
-
-void ConfigInputWidget::moveTxControls()
-{
-    QTransform trans;
-    QGraphicsItem * item;
-    txMovementType move;
-    int limitMax;
-    int limitMin;
-    static bool auxFlag=false;
-    switch(currentMovement)
-    {
-    case moveLeftVerticalStick:
-        item=m_txLeftStick;
-        trans=m_txLeftStickOrig;
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=vertical;
-        break;
-    case moveRightVerticalStick:
-        item=m_txRightStick;
-        trans=m_txRightStickOrig;
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=vertical;
-        break;
-    case moveLeftHorizontalStick:
-        item=m_txLeftStick;
-        trans=m_txLeftStickOrig;
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveRightHorizontalStick:
-        item=m_txRightStick;
-        trans=m_txRightStickOrig;
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveAccess0:
-        item=m_txAccess0;
-        trans=m_txAccess0Orig;
-        limitMax=ACCESS_MAX_MOVE;
-        limitMin=ACCESS_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveAccess1:
-        item=m_txAccess1;
-        trans=m_txAccess1Orig;
-        limitMax=ACCESS_MAX_MOVE;
-        limitMin=ACCESS_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveAccess2:
-        item=m_txAccess2;
-        trans=m_txAccess2Orig;
-        limitMax=ACCESS_MAX_MOVE;
-        limitMin=ACCESS_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveFlightMode:
-        item=m_txFlightMode;
-        move=jump;
-        break;
-    case centerAll:
-        item=m_txArrows;
-        move=jump;
-        break;
-    case moveAll:
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=mix;
-        break;
-    default:
-        break;
-    }
-    if(move==vertical)
-        item->setTransform(trans.translate(0,movePos*10),false);
-    else if(move==horizontal)
-        item->setTransform(trans.translate(movePos*10,0),false);
-    else if(move==jump)
-    {
-        if(item==m_txArrows)
-        {
-            m_txArrows->setVisible(!m_txArrows->isVisible());
-        }
-        else if(item==m_txFlightMode)
-        {
-            QGraphicsSvgItem * svg;
-            svg=(QGraphicsSvgItem *)item;
-            if (svg)
-            {
-                if(svg->elementId()=="flightModeCenter")
-                {
-                    if(growing)
-                    {
-                        svg->setElementId("flightModeRight");
-                        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
-                    }
-                    else
-                    {
-                        svg->setElementId("flightModeLeft");
-                        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
-                    }
-                }
-                else if(svg->elementId()=="flightModeRight")
-                {
-                    growing=false;
-                    svg->setElementId("flightModeCenter");
-                    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-                }
-                else if(svg->elementId()=="flightModeLeft")
-                {
-                    growing=true;
-                    svg->setElementId("flightModeCenter");
-                    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-                }
-            }
-        }
-    }
-    else if(move==mix)
-    {
-        trans=m_txAccess0Orig;
-        m_txAccess0->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
-        trans=m_txAccess1Orig;
-        m_txAccess1->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
-        trans=m_txAccess2Orig;
-        m_txAccess2->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
-
-        if(auxFlag)
-        {
-            trans=m_txLeftStickOrig;
-            m_txLeftStick->setTransform(trans.translate(0,movePos*10),false);
-            trans=m_txRightStickOrig;
-            m_txRightStick->setTransform(trans.translate(0,movePos*10),false);
-        }
-        else
-        {
-            trans=m_txLeftStickOrig;
-            m_txLeftStick->setTransform(trans.translate(movePos*10,0),false);
-            trans=m_txRightStickOrig;
-            m_txRightStick->setTransform(trans.translate(movePos*10,0),false);
-        }
-
-        if(movePos==0)
-        {
-            m_txFlightMode->setElementId("flightModeCenter");
-            m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-        }
-        else if(movePos==ACCESS_MAX_MOVE/2)
-        {
-            m_txFlightMode->setElementId("flightModeRight");
-            m_txFlightMode->setTransform(m_txFlightModeROrig,false);
-        }
-        else if(movePos==ACCESS_MIN_MOVE/2)
-        {
-            m_txFlightMode->setElementId("flightModeLeft");
-            m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
-        }
-    }
-    if(move==horizontal || move==vertical ||move==mix)
-    {
-        if(movePos==0 && growing)
-            auxFlag=!auxFlag;
-        if(growing)
-            ++movePos;
-        else
-            --movePos;
-        if(movePos>limitMax)
-        {
-            movePos=movePos-2;
-            growing=false;
-        }
-        if(movePos<limitMin)
-        {
-            movePos=movePos+2;
-            growing=true;
-        }
-    }
-}
-
-void ConfigInputWidget::moveSticks()
-{
-    QTransform trans;
-    manualCommandData=manualCommandObj->getData();
-    flightStatusData=flightStatusObj->getData();
-    accessoryDesiredData0=accessoryDesiredObj0->getData();
-    accessoryDesiredData1=accessoryDesiredObj1->getData();
-    accessoryDesiredData2=accessoryDesiredObj2->getData();
-
-    if(transmitterMode==mode2)
-    {
-        trans=m_txLeftStickOrig;
-        m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
-        trans=m_txRightStickOrig;
-        m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
-    }
-    else
-    {
-        trans=m_txRightStickOrig;
-        m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
-        trans=m_txLeftStickOrig;
-        m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
-    }
-    if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
-    {
-        m_txFlightMode->setElementId("flightModeLeft");
-        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
-    }
-    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[1])
-    {
-        m_txFlightMode->setElementId("flightModeCenter");
-        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-    }
-    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[2])
-    {
-        m_txFlightMode->setElementId("flightModeRight");
-        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
-    }
-    m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(accessoryDesiredData0.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
-    m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(accessoryDesiredData1.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
-    m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(accessoryDesiredData2.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
-}
-
-void ConfigInputWidget::dimOtherControls(bool value)
-{
-    qreal opac;
-    if(value)
-        opac=0.1;
-    else
-        opac=1;
-    m_txAccess0->setOpacity(opac);
-    m_txAccess1->setOpacity(opac);
-    m_txAccess2->setOpacity(opac);
-    m_txFlightMode->setOpacity(opac);
-}
-
-void ConfigInputWidget::enableControls(bool enable)
-{
-    m_config->configurationWizard->setEnabled(enable);
-    m_config->runCalibration->setEnabled(enable);
-
-    ConfigTaskWidget::enableControls(enable);
-
-}
-
-void ConfigInputWidget::invertControls()
-{
-    manualSettingsData=manualSettingsObj->getData();
-    foreach(QWidget * wd,extraWidgets)
-    {
-        QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
-        if(cb)
-        {
-            int index = manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
-            if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
-                    (!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
-            {
-                qint16 aux;
-                aux=manualSettingsData.ChannelMax[index];
-                manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
-                manualSettingsData.ChannelMin[index]=aux;
-            }
-        }
-    }
-    manualSettingsObj->setData(manualSettingsData);
-}
-
-void ConfigInputWidget::moveFMSlider()
-{
-    ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
-    ManualControlCommand::DataFields manualCommandDataPriv = manualCommandObj->getData();
-
-    float valueScaled;
-    int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
-    int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE];
-    int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE];
-
-    int value = manualCommandDataPriv.Channel[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
-    if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
-    {
-        if (chMax != chNeutral)
-            valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
-        else
-            valueScaled = 0;
-    }
-    else
-    {
-        if (chMin != chNeutral)
-            valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
-        else
-            valueScaled = 0;
-    }
-
-    // Bound and scale FlightMode from [-1..+1] to [0..1] range
-    if (valueScaled < -1.0)
-        valueScaled = -1.0;
-    else
-    if (valueScaled >  1.0)
-        valueScaled =  1.0;
-
-    // Convert flightMode value into the switch position in the range [0..N-1]
-    // This uses the same optimized computation as flight code to be consistent
-    uint8_t pos = ((int16_t)(valueScaled * 256) + 256) * manualSettingsDataPriv.FlightModeNumber >> 9;
-    if (pos >= manualSettingsDataPriv.FlightModeNumber)
-        pos = manualSettingsDataPriv.FlightModeNumber - 1;
-    m_config->fmsSlider->setValue(pos);
-}
-
-void ConfigInputWidget::updatePositionSlider()
-{
-    ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
-
-    switch(manualSettingsDataPriv.FlightModeNumber) {
-    default:
-    case 6:
-        m_config->fmsModePos6->setEnabled(true);
-	// pass through
-    case 5:
-        m_config->fmsModePos5->setEnabled(true);
-	// pass through
-    case 4:
-        m_config->fmsModePos4->setEnabled(true);
-	// pass through
-    case 3:
-        m_config->fmsModePos3->setEnabled(true);
-	// pass through
-    case 2:
-        m_config->fmsModePos2->setEnabled(true);
-	// pass through
-    case 1:
-        m_config->fmsModePos1->setEnabled(true);
-	// pass through
-    case 0:
-	break;
-    }
-
-    switch(manualSettingsDataPriv.FlightModeNumber) {
-    case 0:
-        m_config->fmsModePos1->setEnabled(false);
-	// pass through
-    case 1:
-        m_config->fmsModePos2->setEnabled(false);
-	// pass through
-    case 2:
-        m_config->fmsModePos3->setEnabled(false);
-	// pass through
-    case 3:
-        m_config->fmsModePos4->setEnabled(false);
-	// pass through
-    case 4:
-        m_config->fmsModePos5->setEnabled(false);
-	// pass through
-    case 5:
-        m_config->fmsModePos6->setEnabled(false);
-	// pass through
-    case 6:
-    default:
-	break;
-    }
-}
-
-void ConfigInputWidget::updateCalibration()
-{
-    manualCommandData=manualCommandObj->getData();
-    for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
-    {
-        if((!reverse[i] && manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i]) ||
-                (reverse[i] && manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i]))
-            manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
-        if((!reverse[i] && manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i]) ||
-                (reverse[i] && manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i]))
-            manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
-        manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
-    }
-
-    manualSettingsObj->setData(manualSettingsData);
-    manualSettingsObj->updated();
-}
-
-void ConfigInputWidget::simpleCalibration(bool enable)
-{
-    if (enable) {
-        m_config->configurationWizard->setEnabled(false);
-
-        QMessageBox msgBox;
-        msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
-        msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.setDefaultButton(QMessageBox::Ok);
-        msgBox.exec();
-
-        manualCommandData = manualCommandObj->getData();
-
-        manualSettingsData=manualSettingsObj->getData();
-        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
-        manualSettingsObj->setData(manualSettingsData);
-
-        for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
-            reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
-            manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
-            manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
-            manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
-        }
-
-        fastMdata();
-
-        connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
-    } else {
-        m_config->configurationWizard->setEnabled(true);
-
-        manualCommandData = manualCommandObj->getData();
-        manualSettingsData = manualSettingsObj->getData();
-
-        restoreMdata();
-
-        for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
-            manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
-
-        // Force flight mode neutral to middle
-        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
-                (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
-                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
-
-        // Force throttle to be near min
-        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
-                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
-                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
-                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
-
-        manualSettingsObj->setData(manualSettingsData);
-
-        disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
-    }
-}
+/**
+ ******************************************************************************
+ *
+ * @file       configinputwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Servo input/output configuration panel for the config gadget
+ *****************************************************************************/
+/*
+ * 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 "configinputwidget.h"
+
+#include "uavtalk/telemetrymanager.h"
+
+#include <QDebug>
+#include <QStringList>
+#include <QtGui/QWidget>
+#include <QtGui/QTextEdit>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QPushButton>
+#include <QDesktopServices>
+#include <QUrl>
+#include <QMessageBox>
+#include <utils/stylehelper.h>
+#include <QMessageBox>
+
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+
+#define ACCESS_MIN_MOVE -3
+#define ACCESS_MAX_MOVE 3
+#define STICK_MIN_MOVE -8
+#define STICK_MAX_MOVE 8
+
+ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
+{
+    manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
+    manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
+    flightStatusObj = FlightStatus::GetInstance(getObjectManager());
+    receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
+    m_config = new Ui_InputWidget();
+    m_config->setupUi(this);
+    
+    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
+
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_config->saveRCInputToRAM->setVisible(false);
+    
+    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
+
+	//Generate the rows of buttons in the input channel form GUI
+    unsigned int index=0;
+    foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
+    {
+        Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
+        inputChannelForm * inpForm=new inputChannelForm(this,index==0);
+        m_config->channelSettings->layout()->addWidget(inpForm); //Add the row to the UI
+        inpForm->setName(name);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inpForm->ui->channelGroup,index);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inpForm->ui->channelNumber,index);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
+        ++index;
+    }
+
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
+
+    connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
+    connect(m_config->stackedWidget,SIGNAL(currentChanged(int)),this,SLOT(disableWizardButton(int)));
+    connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
+
+    connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
+    connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
+    connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
+
+    m_config->stackedWidget->setCurrentIndex(0);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
+
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
+
+    addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
+    addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
+    connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
+    connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
+    enableControls(false);
+
+    populateWidgets();
+    refreshWidgetsValues();
+    // Connect the help button
+    connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+
+    m_config->graphicsView->setScene(new QGraphicsScene(this));
+    m_config->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
+    m_renderer = new QSvgRenderer();
+    QGraphicsScene *l_scene = m_config->graphicsView->scene();
+    m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
+    if (QFile::exists(":/configgadget/images/TX2.svg") && m_renderer->load(QString(":/configgadget/images/TX2.svg")) && m_renderer->isValid())
+    {
+        l_scene->clear(); // Deletes all items contained in the scene as well.
+
+        m_txBackground = new QGraphicsSvgItem();
+        // All other items will be clipped to the shape of the background
+        m_txBackground->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
+                                 QGraphicsItem::ItemClipsToShape);
+        m_txBackground->setSharedRenderer(m_renderer);
+        m_txBackground->setElementId("background");
+        l_scene->addItem(m_txBackground);
+
+        m_txMainBody = new QGraphicsSvgItem();
+        m_txMainBody->setParentItem(m_txBackground);
+        m_txMainBody->setSharedRenderer(m_renderer);
+        m_txMainBody->setElementId("body");
+        l_scene->addItem(m_txMainBody);
+
+        m_txLeftStick = new QGraphicsSvgItem();
+        m_txLeftStick->setParentItem(m_txBackground);
+        m_txLeftStick->setSharedRenderer(m_renderer);
+        m_txLeftStick->setElementId("ljoy");
+
+        m_txRightStick = new QGraphicsSvgItem();
+        m_txRightStick->setParentItem(m_txBackground);
+        m_txRightStick->setSharedRenderer(m_renderer);
+        m_txRightStick->setElementId("rjoy");
+
+        m_txAccess0 = new QGraphicsSvgItem();
+        m_txAccess0->setParentItem(m_txBackground);
+        m_txAccess0->setSharedRenderer(m_renderer);
+        m_txAccess0->setElementId("access0");
+
+        m_txAccess1 = new QGraphicsSvgItem();
+        m_txAccess1->setParentItem(m_txBackground);
+        m_txAccess1->setSharedRenderer(m_renderer);
+        m_txAccess1->setElementId("access1");
+
+        m_txAccess2 = new QGraphicsSvgItem();
+        m_txAccess2->setParentItem(m_txBackground);
+        m_txAccess2->setSharedRenderer(m_renderer);
+        m_txAccess2->setElementId("access2");
+
+        m_txFlightMode = new QGraphicsSvgItem();
+        m_txFlightMode->setParentItem(m_txBackground);
+        m_txFlightMode->setSharedRenderer(m_renderer);
+        m_txFlightMode->setElementId("flightModeCenter");
+        m_txFlightMode->setZValue(-10);
+
+        m_txArrows = new QGraphicsSvgItem();
+        m_txArrows->setParentItem(m_txBackground);
+        m_txArrows->setSharedRenderer(m_renderer);
+        m_txArrows->setElementId("arrows");
+        m_txArrows->setVisible(false);
+
+        QRectF orig=m_renderer->boundsOnElement("ljoy");
+        QMatrix Matrix = m_renderer->matrixForElement("ljoy");
+        orig=Matrix.mapRect(orig);
+        m_txLeftStickOrig.translate(orig.x(),orig.y());
+        m_txLeftStick->setTransform(m_txLeftStickOrig,false);
+
+        orig=m_renderer->boundsOnElement("arrows");
+        Matrix = m_renderer->matrixForElement("arrows");
+        orig=Matrix.mapRect(orig);
+        m_txArrowsOrig.translate(orig.x(),orig.y());
+        m_txArrows->setTransform(m_txArrowsOrig,false);
+
+        orig=m_renderer->boundsOnElement("body");
+        Matrix = m_renderer->matrixForElement("body");
+        orig=Matrix.mapRect(orig);
+        m_txMainBodyOrig.translate(orig.x(),orig.y());
+        m_txMainBody->setTransform(m_txMainBodyOrig,false);
+
+        orig=m_renderer->boundsOnElement("flightModeCenter");
+        Matrix = m_renderer->matrixForElement("flightModeCenter");
+        orig=Matrix.mapRect(orig);
+        m_txFlightModeCOrig.translate(orig.x(),orig.y());
+        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+
+        orig=m_renderer->boundsOnElement("flightModeLeft");
+        Matrix = m_renderer->matrixForElement("flightModeLeft");
+        orig=Matrix.mapRect(orig);
+        m_txFlightModeLOrig.translate(orig.x(),orig.y());
+        orig=m_renderer->boundsOnElement("flightModeRight");
+        Matrix = m_renderer->matrixForElement("flightModeRight");
+        orig=Matrix.mapRect(orig);
+        m_txFlightModeROrig.translate(orig.x(),orig.y());
+
+        orig=m_renderer->boundsOnElement("rjoy");
+        Matrix = m_renderer->matrixForElement("rjoy");
+        orig=Matrix.mapRect(orig);
+        m_txRightStickOrig.translate(orig.x(),orig.y());
+        m_txRightStick->setTransform(m_txRightStickOrig,false);
+
+        orig=m_renderer->boundsOnElement("access0");
+        Matrix = m_renderer->matrixForElement("access0");
+        orig=Matrix.mapRect(orig);
+        m_txAccess0Orig.translate(orig.x(),orig.y());
+        m_txAccess0->setTransform(m_txAccess0Orig,false);
+
+        orig=m_renderer->boundsOnElement("access1");
+        Matrix = m_renderer->matrixForElement("access1");
+        orig=Matrix.mapRect(orig);
+        m_txAccess1Orig.translate(orig.x(),orig.y());
+        m_txAccess1->setTransform(m_txAccess1Orig,false);
+
+        orig=m_renderer->boundsOnElement("access2");
+        Matrix = m_renderer->matrixForElement("access2");
+        orig=Matrix.mapRect(orig);
+        m_txAccess2Orig.translate(orig.x(),orig.y());
+        m_txAccess2->setTransform(m_txAccess2Orig,true);
+    }
+    m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
+    animate=new QTimer(this);
+    connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
+
+    heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
+                        ManualControlSettings::CHANNELGROUPS_THROTTLE <<
+                        ManualControlSettings::CHANNELGROUPS_ROLL <<
+                        ManualControlSettings::CHANNELGROUPS_PITCH <<
+                        ManualControlSettings::CHANNELGROUPS_YAW <<
+                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
+
+    acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
+                        ManualControlSettings::CHANNELGROUPS_ROLL <<
+                        ManualControlSettings::CHANNELGROUPS_PITCH <<
+                        ManualControlSettings::CHANNELGROUPS_YAW <<
+                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
+}
+void ConfigInputWidget::resetTxControls()
+{
+
+    m_txLeftStick->setTransform(m_txLeftStickOrig,false);
+    m_txRightStick->setTransform(m_txRightStickOrig,false);
+    m_txAccess0->setTransform(m_txAccess0Orig,false);
+    m_txAccess1->setTransform(m_txAccess1Orig,false);
+    m_txAccess2->setTransform(m_txAccess2Orig,false);
+    m_txFlightMode->setElementId("flightModeCenter");
+    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+    m_txArrows->setVisible(false);
+}
+
+ConfigInputWidget::~ConfigInputWidget()
+{
+
+}
+
+void ConfigInputWidget::resizeEvent(QResizeEvent *event)
+{
+    QWidget::resizeEvent(event);
+    m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
+}
+
+void ConfigInputWidget::openHelp()
+{
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/04Cf", QUrl::StrictMode) );
+}
+
+void ConfigInputWidget::goToWizard()
+{
+    QMessageBox msgBox;
+    msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
+    msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually "
+                              "when the wizard is finished. After the last step of the "
+                              "wizard you will be taken to the Arming Settings screen."));
+    msgBox.setStandardButtons(QMessageBox::Ok);
+    msgBox.setDefaultButton(QMessageBox::Ok);
+    msgBox.exec();
+
+    // Set correct tab visible before starting wizard.
+    if(m_config->tabWidget->currentIndex() != 0) {
+        m_config->tabWidget->setCurrentIndex(0);
+    }
+    wizardSetUpStep(wizardWelcome);
+    m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
+}
+
+void ConfigInputWidget::disableWizardButton(int value)
+{
+    if(value!=0)
+        m_config->configurationWizard->setVisible(false);
+    else
+        m_config->configurationWizard->setVisible(true);
+}
+
+void ConfigInputWidget::wzCancel()
+{
+    dimOtherControls(false);
+    manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
+    m_config->stackedWidget->setCurrentIndex(0);
+
+    if(wizardStep != wizardNone)
+        wizardTearDownStep(wizardStep);
+    wizardStep=wizardNone;
+    m_config->stackedWidget->setCurrentIndex(0);
+
+    // Load settings back from beginning of wizard
+    manualSettingsObj->setData(previousManualSettingsData);
+}
+
+void ConfigInputWidget::wzNext()
+{
+    // In identify sticks mode the next button can indicate
+    // channel advance
+    if(wizardStep != wizardNone &&
+            wizardStep != wizardIdentifySticks)
+        wizardTearDownStep(wizardStep);
+
+    // State transitions for next button
+    switch(wizardStep) {
+    case wizardWelcome:
+        wizardSetUpStep(wizardChooseMode);
+        break;
+    case wizardChooseMode:
+        wizardSetUpStep(wizardChooseType);
+        break;
+    case wizardChooseType:
+        wizardSetUpStep(wizardIdentifySticks);
+        break;
+    case wizardIdentifySticks:
+        nextChannel();
+        if(currentChannelNum==-1) { // Gone through all channels
+            wizardTearDownStep(wizardIdentifySticks);
+            wizardSetUpStep(wizardIdentifyCenter);
+        }
+        break;
+    case wizardIdentifyCenter:
+        wizardSetUpStep(wizardIdentifyLimits);
+        break;
+    case wizardIdentifyLimits:
+        wizardSetUpStep(wizardIdentifyInverted);
+        break;
+    case wizardIdentifyInverted:
+        wizardSetUpStep(wizardFinish);
+        break;
+    case wizardFinish:
+        wizardStep=wizardNone;
+        m_config->stackedWidget->setCurrentIndex(0);
+        m_config->tabWidget->setCurrentIndex(2);
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+}
+
+void ConfigInputWidget::wzBack()
+{
+    if(wizardStep != wizardNone &&
+            wizardStep != wizardIdentifySticks)
+        wizardTearDownStep(wizardStep);
+
+    // State transitions for next button
+    switch(wizardStep) {
+    case wizardChooseMode:
+        wizardSetUpStep(wizardWelcome);
+        break;
+    case wizardChooseType:
+        wizardSetUpStep(wizardChooseMode);
+        break;
+    case wizardIdentifySticks:
+        prevChannel();
+        if(currentChannelNum == -1) {
+            wizardTearDownStep(wizardIdentifySticks);
+            wizardSetUpStep(wizardChooseType);
+        }
+        break;
+    case wizardIdentifyCenter:
+        wizardSetUpStep(wizardIdentifySticks);
+        break;
+    case wizardIdentifyLimits:
+        wizardSetUpStep(wizardIdentifyCenter);
+        break;
+    case wizardIdentifyInverted:
+        wizardSetUpStep(wizardIdentifyLimits);
+        break;
+    case wizardFinish:
+        wizardSetUpStep(wizardIdentifyInverted);
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+}
+
+void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
+{
+    switch(step) {
+    case wizardWelcome:
+        foreach(QPointer<QWidget> wd,extraWidgets)
+        {
+            if(!wd.isNull())
+                delete wd;
+        }
+        extraWidgets.clear();
+        m_config->graphicsView->setVisible(false);
+        setTxMovement(nothing);
+        manualSettingsData=manualSettingsObj->getData();
+        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
+        previousManualSettingsData = manualSettingsData;
+        manualSettingsObj->setData(manualSettingsData);
+        m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
+                                     "Please follow the instructions on the screen and only move your controls when asked to.\n"
+                                     "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
+                                     "You can press 'back' at any time to return to the previous screeen or press 'Cancel' to quit the wizard.\n"));
+        m_config->stackedWidget->setCurrentIndex(1);
+        m_config->wzBack->setEnabled(false);
+        break;
+    case wizardChooseMode:
+    {
+        m_config->graphicsView->setVisible(true);
+        m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
+        setTxMovement(nothing);
+        m_config->wzText->setText(tr("Please choose your transmitter type.\n"
+                                     "Mode 1 means your throttle stick is on the right.\n"
+                                     "Mode 2 means your throttle stick is on the left.\n"));
+        m_config->wzBack->setEnabled(true);
+        QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
+        QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
+        mode2->setChecked(true);
+        extraWidgets.clear();
+        extraWidgets.append(mode1);
+        extraWidgets.append(mode2);
+        m_config->checkBoxesLayout->layout()->addWidget(mode1);
+        m_config->checkBoxesLayout->layout()->addWidget(mode2);
+    }
+        break;
+    case wizardChooseType:
+    {
+        m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
+                                     "Acro means normal transmitter.\n"
+                                     "Heli means there is a collective pitch and throttle input.\n"
+                                     "If you are using a heli transmitter please engage throttle hold now.\n"));
+        m_config->wzBack->setEnabled(true);
+        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
+        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
+        typeAcro->setChecked(true);
+        typeHeli->setChecked(false);
+        extraWidgets.clear();
+        extraWidgets.append(typeAcro);
+        extraWidgets.append(typeHeli);
+        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
+        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
+        wizardStep=wizardChooseType;
+    }
+        break;
+    case wizardIdentifySticks:
+        usedChannels.clear();
+        currentChannelNum=-1;
+        nextChannel();
+        manualSettingsData=manualSettingsObj->getData();
+        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+        m_config->wzNext->setEnabled(false);
+        break;
+    case wizardIdentifyCenter:
+        setTxMovement(centerAll);
+        m_config->wzText->setText(QString(tr("Please center all controls and press next when ready (if your FlightMode switch has only two positions, leave it in either position).")));
+        break;
+    case wizardIdentifyLimits:
+    {
+        accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(),0);
+        accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
+        accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
+        setTxMovement(nothing);
+        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready.")));
+        fastMdata();
+        manualSettingsData=manualSettingsObj->getData();
+        for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+        {
+            // Preserve the inverted status
+            if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
+                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
+                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+            } else {
+                // Make this detect as still inverted
+                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
+                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+            }
+        }
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+    }
+        break;
+    case wizardIdentifyInverted:
+        dimOtherControls(true);
+        setTxMovement(nothing);
+        extraWidgets.clear();
+
+        for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
+        {
+            QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
+            if(!name.contains("Access") &&  !name.contains("Flight"))
+            {
+                QCheckBox * cb=new QCheckBox(name,this);
+                // Make sure checked status matches current one
+                cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
+
+                extraWidgets.append(cb);
+                m_config->checkBoxesLayout->layout()->addWidget(cb);
+
+                connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+            }
+        }
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement, press next when ready.")));
+        fastMdata();
+        break;
+    case wizardFinish:
+        dimOtherControls(false);
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n"
+                                             "These new settings aren't saved to the board yet, after pressing next you will go to the Arming Settings "
+                                             "screen where you can set your desired arming sequence and save the configuration.")));
+        fastMdata();
+
+        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
+                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
+                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
+                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
+        if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
+                (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
+        {
+            manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
+                    (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
+        }
+        manualSettingsObj->setData(manualSettingsData);
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+    wizardStep = step;
+}
+
+void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
+{
+    QRadioButton * mode, * type;
+    Q_ASSERT(step == wizardStep);
+    switch(step) {
+    case wizardWelcome:
+        break;
+    case wizardChooseMode:
+        mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+        if(mode->isChecked())
+            transmitterMode=mode1;
+        else
+            transmitterMode=mode2;
+        delete extraWidgets.at(0);
+        delete extraWidgets.at(1);
+        extraWidgets.clear();
+        break;
+    case wizardChooseType:
+        type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+        if(type->isChecked())
+            transmitterType=acro;
+        else
+            transmitterType=heli;
+        delete extraWidgets.at(0);
+        delete extraWidgets.at(1);
+        extraWidgets.clear();
+        break;
+    case wizardIdentifySticks:
+        disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+        m_config->wzNext->setEnabled(true);
+        setTxMovement(nothing);
+        break;
+    case wizardIdentifyCenter:
+        manualCommandData=manualCommandObj->getData();
+        manualSettingsData=manualSettingsObj->getData();
+        for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
+        {
+            manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
+        }
+        manualSettingsObj->setData(manualSettingsData);
+        setTxMovement(nothing);
+        break;
+    case wizardIdentifyLimits:
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        manualSettingsObj->setData(manualSettingsData);
+        restoreMdata();
+        setTxMovement(nothing);
+        break;
+    case wizardIdentifyInverted:
+        dimOtherControls(false);
+        foreach(QWidget * wd,extraWidgets)
+        {
+            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+            if(cb)
+            {
+                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+                delete cb;
+            }
+        }
+        extraWidgets.clear();
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        restoreMdata();
+        break;
+    case wizardFinish:
+        dimOtherControls(false);
+        setTxMovement(nothing);
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        restoreMdata();
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+}
+
+/**
+  * Set manual control command to fast updates
+  */
+void ConfigInputWidget::fastMdata()
+{
+    manualControlMdata = manualCommandObj->getMetadata();
+    UAVObject::Metadata mdata = manualControlMdata;
+    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
+    mdata.flightTelemetryUpdatePeriod = 150;
+    manualCommandObj->setMetadata(mdata);
+}
+
+/**
+  * Restore previous update settings for manual control data
+  */
+void ConfigInputWidget::restoreMdata()
+{
+    manualCommandObj->setMetadata(manualControlMdata);
+}
+
+/**
+  * Set the display to indicate which channel the person should move
+  */
+void ConfigInputWidget::setChannel(int newChan)
+{
+    if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
+        m_config->wzText->setText(QString(tr("Please enable the throttle hold mode and move the collective pitch stick.")));
+    else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
+        m_config->wzText->setText(QString(tr("Please toggle the flight mode switch. For switches you may have to repeat this rapidly.")));
+    else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
+        m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick.")));
+    else
+        m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
+                                 "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
+
+    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
+       manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
+        m_config->wzNext->setEnabled(true);
+        m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
+    } else
+        m_config->wzNext->setEnabled(false);
+
+    setMoveFromCommand(newChan);
+
+    currentChannelNum = newChan;
+    channelDetected = false;
+}
+
+/**
+  * Unfortunately order of channel should be different in different conditions.  Selects
+  * next channel based on heli or acro mode
+  */
+void ConfigInputWidget::nextChannel()
+{
+    QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
+
+    if(currentChannelNum == -1) {
+        setChannel(order[0]);
+        return;
+    }
+    for (int i = 0; i < order.length() - 1; i++) {
+        if(order[i] == currentChannelNum) {
+            setChannel(order[i+1]);
+            return;
+        }
+    }
+    currentChannelNum = -1; // hit end of list
+}
+
+/**
+  * Unfortunately order of channel should be different in different conditions.  Selects
+  * previous channel based on heli or acro mode
+  */
+void ConfigInputWidget::prevChannel()
+{
+    QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
+
+    // No previous from unset channel or next state
+    if(currentChannelNum == -1)
+        return;
+
+    for (int i = 1; i < order.length(); i++) {
+        if(order[i] == currentChannelNum) {
+            setChannel(order[i-1]);
+            usedChannels.removeLast();
+            return;
+        }
+    }
+    currentChannelNum = -1; // hit end of list
+}
+
+void ConfigInputWidget::identifyControls()
+{
+    static int debounce=0;
+
+    receiverActivityData=receiverActivityObj->getData();
+    if(receiverActivityData.ActiveChannel==255)
+        return;
+    if(channelDetected)
+        return;
+    else
+    {
+        receiverActivityData=receiverActivityObj->getData();
+        currentChannel.group=receiverActivityData.ActiveGroup;
+        currentChannel.number=receiverActivityData.ActiveChannel;
+        if(currentChannel==lastChannel)
+            ++debounce;
+        lastChannel.group= currentChannel.group;
+        lastChannel.number=currentChannel.number;
+        if(!usedChannels.contains(lastChannel) && debounce>1)
+        {
+            channelDetected = true;
+            debounce=0;
+            usedChannels.append(lastChannel);
+            manualSettingsData=manualSettingsObj->getData();
+            manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
+            manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
+            manualSettingsObj->setData(manualSettingsData);
+        }
+        else
+            return;
+    }
+
+    m_config->wzText->clear();
+    setTxMovement(nothing);
+
+    QTimer::singleShot(2500, this, SLOT(wzNext()));
+}
+
+void ConfigInputWidget::identifyLimits()
+{
+    manualCommandData=manualCommandObj->getData();
+    for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+    {
+        if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
+            // Non inverted channel
+            if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
+                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+            if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
+                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+        } else {
+            // Inverted channel
+            if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
+                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+            if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
+                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+        }
+    }
+    manualSettingsObj->setData(manualSettingsData);
+}
+void ConfigInputWidget::setMoveFromCommand(int command)
+{
+    //CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem;
+    if(command==ManualControlSettings::CHANNELNUMBER_ROLL)
+    {
+            setTxMovement(moveRightHorizontalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
+    {
+        if(transmitterMode==mode2)
+            setTxMovement(moveRightVerticalStick);
+        else
+            setTxMovement(moveLeftVerticalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
+    {
+            setTxMovement(moveLeftHorizontalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
+    {
+        if(transmitterMode==mode2)
+            setTxMovement(moveLeftVerticalStick);
+        else
+            setTxMovement(moveRightVerticalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
+    {
+        if(transmitterMode==mode2)
+            setTxMovement(moveLeftVerticalStick);
+        else
+            setTxMovement(moveRightVerticalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
+    {
+        setTxMovement(moveFlightMode);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0)
+    {
+        setTxMovement(moveAccess0);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1)
+    {
+        setTxMovement(moveAccess1);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2)
+    {
+        setTxMovement(moveAccess2);
+    }
+
+}
+
+void ConfigInputWidget::setTxMovement(txMovements movement)
+{
+    resetTxControls();
+    switch(movement)
+    {
+    case moveLeftVerticalStick:
+        movePos=0;
+        growing=true;
+        currentMovement=moveLeftVerticalStick;
+        animate->start(100);
+        break;
+    case moveRightVerticalStick:
+        movePos=0;
+        growing=true;
+        currentMovement=moveRightVerticalStick;
+        animate->start(100);
+        break;
+    case moveLeftHorizontalStick:
+        movePos=0;
+        growing=true;
+        currentMovement=moveLeftHorizontalStick;
+        animate->start(100);
+        break;
+    case moveRightHorizontalStick:
+        movePos=0;
+        growing=true;
+        currentMovement=moveRightHorizontalStick;
+        animate->start(100);
+        break;
+    case moveAccess0:
+        movePos=0;
+        growing=true;
+        currentMovement=moveAccess0;
+        animate->start(100);
+        break;
+    case moveAccess1:
+        movePos=0;
+        growing=true;
+        currentMovement=moveAccess1;
+        animate->start(100);
+        break;
+    case moveAccess2:
+        movePos=0;
+        growing=true;
+        currentMovement=moveAccess2;
+        animate->start(100);
+        break;
+    case moveFlightMode:
+        movePos=0;
+        growing=true;
+        currentMovement=moveFlightMode;
+        animate->start(1000);
+        break;
+    case centerAll:
+        movePos=0;
+        currentMovement=centerAll;
+        animate->start(1000);
+        break;
+    case moveAll:
+        movePos=0;
+        growing=true;
+        currentMovement=moveAll;
+        animate->start(50);
+        break;
+    case nothing:
+        movePos=0;
+        animate->stop();
+        break;
+    default:
+        break;
+    }
+}
+
+void ConfigInputWidget::moveTxControls()
+{
+    QTransform trans;
+    QGraphicsItem * item;
+    txMovementType move;
+    int limitMax;
+    int limitMin;
+    static bool auxFlag=false;
+    switch(currentMovement)
+    {
+    case moveLeftVerticalStick:
+        item=m_txLeftStick;
+        trans=m_txLeftStickOrig;
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=vertical;
+        break;
+    case moveRightVerticalStick:
+        item=m_txRightStick;
+        trans=m_txRightStickOrig;
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=vertical;
+        break;
+    case moveLeftHorizontalStick:
+        item=m_txLeftStick;
+        trans=m_txLeftStickOrig;
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveRightHorizontalStick:
+        item=m_txRightStick;
+        trans=m_txRightStickOrig;
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveAccess0:
+        item=m_txAccess0;
+        trans=m_txAccess0Orig;
+        limitMax=ACCESS_MAX_MOVE;
+        limitMin=ACCESS_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveAccess1:
+        item=m_txAccess1;
+        trans=m_txAccess1Orig;
+        limitMax=ACCESS_MAX_MOVE;
+        limitMin=ACCESS_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveAccess2:
+        item=m_txAccess2;
+        trans=m_txAccess2Orig;
+        limitMax=ACCESS_MAX_MOVE;
+        limitMin=ACCESS_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveFlightMode:
+        item=m_txFlightMode;
+        move=jump;
+        break;
+    case centerAll:
+        item=m_txArrows;
+        move=jump;
+        break;
+    case moveAll:
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=mix;
+        break;
+    default:
+        break;
+    }
+    if(move==vertical)
+        item->setTransform(trans.translate(0,movePos*10),false);
+    else if(move==horizontal)
+        item->setTransform(trans.translate(movePos*10,0),false);
+    else if(move==jump)
+    {
+        if(item==m_txArrows)
+        {
+            m_txArrows->setVisible(!m_txArrows->isVisible());
+        }
+        else if(item==m_txFlightMode)
+        {
+            QGraphicsSvgItem * svg;
+            svg=(QGraphicsSvgItem *)item;
+            if (svg)
+            {
+                if(svg->elementId()=="flightModeCenter")
+                {
+                    if(growing)
+                    {
+                        svg->setElementId("flightModeRight");
+                        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
+                    }
+                    else
+                    {
+                        svg->setElementId("flightModeLeft");
+                        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
+                    }
+                }
+                else if(svg->elementId()=="flightModeRight")
+                {
+                    growing=false;
+                    svg->setElementId("flightModeCenter");
+                    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+                }
+                else if(svg->elementId()=="flightModeLeft")
+                {
+                    growing=true;
+                    svg->setElementId("flightModeCenter");
+                    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+                }
+            }
+        }
+    }
+    else if(move==mix)
+    {
+        trans=m_txAccess0Orig;
+        m_txAccess0->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
+        trans=m_txAccess1Orig;
+        m_txAccess1->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
+        trans=m_txAccess2Orig;
+        m_txAccess2->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
+
+        if(auxFlag)
+        {
+            trans=m_txLeftStickOrig;
+            m_txLeftStick->setTransform(trans.translate(0,movePos*10),false);
+            trans=m_txRightStickOrig;
+            m_txRightStick->setTransform(trans.translate(0,movePos*10),false);
+        }
+        else
+        {
+            trans=m_txLeftStickOrig;
+            m_txLeftStick->setTransform(trans.translate(movePos*10,0),false);
+            trans=m_txRightStickOrig;
+            m_txRightStick->setTransform(trans.translate(movePos*10,0),false);
+        }
+
+        if(movePos==0)
+        {
+            m_txFlightMode->setElementId("flightModeCenter");
+            m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+        }
+        else if(movePos==ACCESS_MAX_MOVE/2)
+        {
+            m_txFlightMode->setElementId("flightModeRight");
+            m_txFlightMode->setTransform(m_txFlightModeROrig,false);
+        }
+        else if(movePos==ACCESS_MIN_MOVE/2)
+        {
+            m_txFlightMode->setElementId("flightModeLeft");
+            m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
+        }
+    }
+    if(move==horizontal || move==vertical ||move==mix)
+    {
+        if(movePos==0 && growing)
+            auxFlag=!auxFlag;
+        if(growing)
+            ++movePos;
+        else
+            --movePos;
+        if(movePos>limitMax)
+        {
+            movePos=movePos-2;
+            growing=false;
+        }
+        if(movePos<limitMin)
+        {
+            movePos=movePos+2;
+            growing=true;
+        }
+    }
+}
+
+void ConfigInputWidget::moveSticks()
+{
+    QTransform trans;
+    manualCommandData=manualCommandObj->getData();
+    flightStatusData=flightStatusObj->getData();
+    accessoryDesiredData0=accessoryDesiredObj0->getData();
+    accessoryDesiredData1=accessoryDesiredObj1->getData();
+    accessoryDesiredData2=accessoryDesiredObj2->getData();
+
+    if(transmitterMode==mode2)
+    {
+        trans=m_txLeftStickOrig;
+        m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
+        trans=m_txRightStickOrig;
+        m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
+    }
+    else
+    {
+        trans=m_txRightStickOrig;
+        m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
+        trans=m_txLeftStickOrig;
+        m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
+    }
+    if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
+    {
+        m_txFlightMode->setElementId("flightModeLeft");
+        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
+    }
+    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[1])
+    {
+        m_txFlightMode->setElementId("flightModeCenter");
+        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+    }
+    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[2])
+    {
+        m_txFlightMode->setElementId("flightModeRight");
+        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
+    }
+    m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(accessoryDesiredData0.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
+    m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(accessoryDesiredData1.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
+    m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(accessoryDesiredData2.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
+}
+
+void ConfigInputWidget::dimOtherControls(bool value)
+{
+    qreal opac;
+    if(value)
+        opac=0.1;
+    else
+        opac=1;
+    m_txAccess0->setOpacity(opac);
+    m_txAccess1->setOpacity(opac);
+    m_txAccess2->setOpacity(opac);
+    m_txFlightMode->setOpacity(opac);
+}
+
+void ConfigInputWidget::enableControls(bool enable)
+{
+    m_config->configurationWizard->setEnabled(enable);
+    m_config->runCalibration->setEnabled(enable);
+
+    ConfigTaskWidget::enableControls(enable);
+
+}
+
+void ConfigInputWidget::invertControls()
+{
+    manualSettingsData=manualSettingsObj->getData();
+    foreach(QWidget * wd,extraWidgets)
+    {
+        QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+        if(cb)
+        {
+            int index = manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
+            if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
+                    (!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
+            {
+                qint16 aux;
+                aux=manualSettingsData.ChannelMax[index];
+                manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
+                manualSettingsData.ChannelMin[index]=aux;
+            }
+        }
+    }
+    manualSettingsObj->setData(manualSettingsData);
+}
+
+void ConfigInputWidget::moveFMSlider()
+{
+    ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
+    ManualControlCommand::DataFields manualCommandDataPriv = manualCommandObj->getData();
+
+    float valueScaled;
+    int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
+    int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE];
+    int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE];
+
+    int value = manualCommandDataPriv.Channel[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
+    if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
+    {
+        if (chMax != chNeutral)
+            valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
+        else
+            valueScaled = 0;
+    }
+    else
+    {
+        if (chMin != chNeutral)
+            valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
+        else
+            valueScaled = 0;
+    }
+
+    // Bound and scale FlightMode from [-1..+1] to [0..1] range
+    if (valueScaled < -1.0)
+        valueScaled = -1.0;
+    else
+    if (valueScaled >  1.0)
+        valueScaled =  1.0;
+
+    // Convert flightMode value into the switch position in the range [0..N-1]
+    // This uses the same optimized computation as flight code to be consistent
+    uint8_t pos = ((int16_t)(valueScaled * 256) + 256) * manualSettingsDataPriv.FlightModeNumber >> 9;
+    if (pos >= manualSettingsDataPriv.FlightModeNumber)
+        pos = manualSettingsDataPriv.FlightModeNumber - 1;
+    m_config->fmsSlider->setValue(pos);
+}
+
+void ConfigInputWidget::updatePositionSlider()
+{
+    ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
+
+    switch(manualSettingsDataPriv.FlightModeNumber) {
+    default:
+    case 6:
+        m_config->fmsModePos6->setEnabled(true);
+	// pass through
+    case 5:
+        m_config->fmsModePos5->setEnabled(true);
+	// pass through
+    case 4:
+        m_config->fmsModePos4->setEnabled(true);
+	// pass through
+    case 3:
+        m_config->fmsModePos3->setEnabled(true);
+	// pass through
+    case 2:
+        m_config->fmsModePos2->setEnabled(true);
+	// pass through
+    case 1:
+        m_config->fmsModePos1->setEnabled(true);
+	// pass through
+    case 0:
+	break;
+    }
+
+    switch(manualSettingsDataPriv.FlightModeNumber) {
+    case 0:
+        m_config->fmsModePos1->setEnabled(false);
+	// pass through
+    case 1:
+        m_config->fmsModePos2->setEnabled(false);
+	// pass through
+    case 2:
+        m_config->fmsModePos3->setEnabled(false);
+	// pass through
+    case 3:
+        m_config->fmsModePos4->setEnabled(false);
+	// pass through
+    case 4:
+        m_config->fmsModePos5->setEnabled(false);
+	// pass through
+    case 5:
+        m_config->fmsModePos6->setEnabled(false);
+	// pass through
+    case 6:
+    default:
+	break;
+    }
+}
+
+void ConfigInputWidget::updateCalibration()
+{
+    manualCommandData=manualCommandObj->getData();
+    for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+    {
+        if((!reverse[i] && manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i]) ||
+                (reverse[i] && manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i]))
+            manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+        if((!reverse[i] && manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i]) ||
+                (reverse[i] && manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i]))
+            manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+        manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
+    }
+
+    manualSettingsObj->setData(manualSettingsData);
+    manualSettingsObj->updated();
+}
+
+void ConfigInputWidget::simpleCalibration(bool enable)
+{
+    if (enable) {
+        m_config->configurationWizard->setEnabled(false);
+
+        QMessageBox msgBox;
+        msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
+        msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+
+        manualCommandData = manualCommandObj->getData();
+
+        manualSettingsData=manualSettingsObj->getData();
+        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
+        manualSettingsObj->setData(manualSettingsData);
+
+        for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
+            reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
+            manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
+            manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
+            manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
+        }
+
+        fastMdata();
+
+        connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
+    } else {
+        m_config->configurationWizard->setEnabled(true);
+
+        manualCommandData = manualCommandObj->getData();
+        manualSettingsData = manualSettingsObj->getData();
+
+        restoreMdata();
+
+        for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
+            manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
+
+        // Force flight mode neutral to middle
+        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
+                (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
+                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
+
+        // Force throttle to be near min
+        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
+                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
+                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
+                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
+
+        manualSettingsObj->setData(manualSettingsData);
+
+        disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
+    }
+}

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

@@ -60,7 +60,7 @@ public:
         enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
         enum txMovementType{vertical,horizontal,jump,mix};
         enum txType {acro, heli};
-public slots:
+        void startInputWizard() { goToWizard(); }
 
 private:
         bool growing;
@@ -144,6 +144,7 @@ private:
 
         void wizardSetUpStep(enum wizardSteps);
         void wizardTearDownStep(enum wizardSteps);
+
 private slots:
         void wzNext();
         void wzBack();
@@ -161,11 +162,10 @@ private slots:
         void invertControls();
         void simpleCalibration(bool state);
         void updateCalibration();
+
 protected:
         void resizeEvent(QResizeEvent *event);
         virtual void enableControls(bool enable);
-
-
 };
 
 #endif

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

@@ -99,7 +99,7 @@ void ConfigPlugin::extensionsInitialized()
 
 void ConfigPlugin::shutdown()
 {
-   // Do nothing
+    // Do nothing
 }
 
 /**

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

@@ -215,6 +215,9 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
     connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
 
+    //Connect the multirotor motor reverse checkbox
+    connect(m_aircraft->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
+
     // Connect the help pushbutton
     connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
     enableControls(false);
@@ -483,7 +486,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
     UAVObjectField *field = system->getField(QString("AirframeType"));
     Q_ASSERT(field);
     // At this stage, we will need to have some hardcoded settings in this code, this
-    // is not ideal, but here you go.
+    // is not ideal, but there you go.
     QString frameType = field->getValue().toString();
     setupAirframeUI(frameType);
 
@@ -766,6 +769,12 @@ void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
         box->setCurrentIndex(index);
 }
 
+void ConfigVehicleTypeWidget::reverseMultirotorMotor(){
+    QString frameType = m_aircraft->multirotorFrameType->currentText();
+    m_multirotor->drawAirframe(frameType);
+}
+
+
 /**
  WHAT DOES THIS DO???
  */

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

@@ -95,6 +95,7 @@ private slots:
 
     void enableFFTest();
     void openHelp();
+    void reverseMultirotorMotor();
 
 protected:
     void showEvent(QShowEvent *event);

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>965</width>
-    <height>713</height>
+    <height>687</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -453,6 +453,9 @@
    <bool>false</bool>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
+   <property name="spacing">
+    <number>6</number>
+   </property>
    <property name="margin">
     <number>12</number>
    </property>
@@ -597,8 +600,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>935</width>
-            <height>619</height>
+            <width>937</width>
+            <height>595</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0">
@@ -638,12 +641,12 @@
               <bool>false</bool>
              </property>
              <layout class="QGridLayout" name="gridLayout_19">
-              <property name="horizontalSpacing">
-               <number>6</number>
-              </property>
               <property name="margin">
                <number>12</number>
               </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
               <item row="0" column="0">
                <widget class="QCheckBox" name="checkBox_7">
                 <property name="sizePolicy">
@@ -4008,12 +4011,12 @@ value as the Kp.</string>
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
              <layout class="QGridLayout" name="gridLayout_20">
-              <property name="horizontalSpacing">
-               <number>6</number>
-              </property>
               <property name="margin">
                <number>12</number>
               </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
               <item row="0" column="0">
                <widget class="QCheckBox" name="checkBox_8">
                 <property name="sizePolicy">
@@ -6934,8 +6937,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>920</width>
-            <height>644</height>
+            <width>540</width>
+            <height>663</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -7489,12 +7492,12 @@ border-radius: 5;</string>
               <bool>false</bool>
              </property>
              <layout class="QGridLayout" name="gridLayout_16">
-              <property name="horizontalSpacing">
-               <number>6</number>
-              </property>
               <property name="margin">
                <number>12</number>
               </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
               <item row="0" column="0">
                <widget class="QCheckBox" name="checkBox_3">
                 <property name="styleSheet">
@@ -13938,12 +13941,12 @@ border-radius: 5;</string>
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
              <layout class="QGridLayout" name="gridLayout_18">
-              <property name="horizontalSpacing">
-               <number>6</number>
-              </property>
               <property name="margin">
                <number>12</number>
               </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
               <item row="0" column="0">
                <spacer name="horizontalSpacer_14">
                 <property name="orientation">
@@ -16857,8 +16860,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>935</width>
-            <height>619</height>
+            <width>802</width>
+            <height>607</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
@@ -19488,12 +19491,12 @@ border-radius: 5;</string>
               <string>Integral Limits</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_9">
-              <property name="horizontalSpacing">
-               <number>6</number>
-              </property>
               <property name="margin">
                <number>12</number>
               </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
               <item row="0" column="0">
                <spacer name="horizontalSpacer_36">
                 <property name="orientation">

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>789</width>
-    <height>615</height>
+    <height>484</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -113,8 +113,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>759</width>
-            <height>532</height>
+            <width>745</width>
+            <height>469</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">

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

@@ -101,7 +101,7 @@ void ConnectionManager::init()
 /**
 *   Method called when the user clicks the "Connect" button
 */
-bool ConnectionManager::connectDevice()
+bool ConnectionManager::connectDevice(DevListItem device)
 {
     DevListItem connection_device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(),Qt::ToolTipRole).toString());
     if (!connection_device.connection)
@@ -126,7 +126,7 @@ bool ConnectionManager::connectDevice()
     connect(m_connectionDevice.connection, SIGNAL(destroyed(QObject *)), this, SLOT(onConnectionDestroyed(QObject *)), Qt::QueuedConnection);
 
     // signal interested plugins that we connected to the device
-    emit deviceConnected(m_ioDev);
+    emit deviceConnected(io_dev);
     m_connectBtn->setText("Disconnect");
     m_availableDevList->setEnabled(false);
 
@@ -174,6 +174,7 @@ bool ConnectionManager::disconnectDevice()
     m_connectionDevice.connection = NULL;
     m_ioDev = NULL;
 
+    emit deviceDisconnected();
     m_connectBtn->setText("Connect");
     m_availableDevList->setEnabled(true);
 
@@ -230,8 +231,11 @@ void ConnectionManager::onConnectClicked()
 {
     // Check if we have a ioDev already created:
     if (!m_ioDev)
-    {	// connecting
-        connectDevice();
+    {
+        // connecting to currently selected device
+        DevListItem device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(), Qt::ToolTipRole).toString());
+        if (device.connection)
+            connectDevice(device);
     }
     else
     {	// disconnecting
@@ -427,6 +431,9 @@ void ConnectionManager::devChanged(IConnection *connection)
 
     updateConnectionDropdown();
 
+    qDebug() << "# devices " << m_devList.count();
+    emit availableDevicesChanged(m_devList);
+
 
     //disable connection button if the liNameif (m_availableDevList->count() > 0)
     if (m_availableDevList->count() > 0)
@@ -445,11 +452,12 @@ void ConnectionManager::updateConnectionDropdown()
         if(!m_ioDev && d.getConName().startsWith("USB"))
         {
             if(m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect())
-                m_availableDevList->setCurrentIndex(m_availableDevList->count()-1);
+                m_availableDevList->setCurrentIndex(m_availableDevList->count() - 1);
+
             if(m_mainWindow->generalSettings()->autoConnect() && polling)
             {
                 qDebug() << "Automatically opening device";
-                connectDevice();
+                connectDevice(d);
                 qDebug()<<"ConnectionManager::devChanged autoconnected USB device";
             }
         }

ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h

@@ -92,7 +92,14 @@ public:
     void init();
 
     QIODevice* getCurrentConnection() { return m_ioDev; }
-    DevListItem getCurrentDevice() { return m_connectionDevice;}
+    DevListItem getCurrentDevice() { return m_connectionDevice; }
+    DevListItem findDevice(const QString &devName);
+
+    QLinkedList<DevListItem> getAvailableDevices() { return m_devList; }
+
+    bool isConnected() { return m_ioDev != 0; }
+
+    bool connectDevice(DevListItem device);
     bool disconnectDevice();
     void suspendPolling();
     void resumePolling();
@@ -101,11 +108,12 @@ protected:
     void updateConnectionList(IConnection *connection);
     void registerDevice(IConnection *conn, IConnection::device device);
     void updateConnectionDropdown();
-    DevListItem findDevice(const QString &devName);
 
 signals:
-    void deviceConnected(QIODevice *dev);
+    void deviceConnected(QIODevice *device);
     void deviceAboutToDisconnect();
+    void deviceDisconnected();
+    void availableDevicesChanged(const QLinkedList<Core::DevListItem> devices);
 
 public slots:
     void telemetryConnected();

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

@@ -39,7 +39,6 @@
 #include <QtCore/QSettings>
 
 #include "ui_generalsettings.h"
-#include <QKeyEvent>
 
 using namespace Utils;
 using namespace Core::Internal;
@@ -113,14 +112,8 @@ void GeneralSettings::fillLanguageBox() const
 QWidget *GeneralSettings::createPage(QWidget *parent)
 {
     m_page = new Ui::GeneralSettings();
-    globalSettingsWidget *w = new globalSettingsWidget(parent);
-    connect(w,SIGNAL(showHidden()),this,SLOT(showHidden()));
+    QWidget *w = new QWidget(parent);
     m_page->setupUi(w);
-    m_page->labelUDP->setVisible(false);
-    m_page->cbUseUDPMirror->setVisible(false);
-    m_page->labelExpert->setVisible(false);
-    m_page->cbExpertMode->setVisible(false);
-
     fillLanguageBox();
     connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
     m_page->checkBoxSaveOnExit->setChecked(m_saveSettingsOnExit);
@@ -263,21 +256,3 @@ void GeneralSettings::slotAutoConnect(int value)
     else
         m_page->checkAutoSelect->setEnabled(true);
 }
-
-void GeneralSettings::showHidden()
-{
-    m_page->labelUDP->setVisible(true);
-    m_page->cbUseUDPMirror->setVisible(true);
-    m_page->labelExpert->setVisible(true);
-    m_page->cbExpertMode->setVisible(true);
-}
-
-globalSettingsWidget::globalSettingsWidget(QWidget *parent):QWidget(parent){}
-
-void globalSettingsWidget::keyPressEvent(QKeyEvent *event)
-{
-    if(event->key()==Qt::Key_F7)
-    {
-        emit showHidden();
-    }
-}

ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h

@@ -69,7 +69,6 @@ private slots:
     void resetLanguage();
     void showHelpForExternalEditor();
     void slotAutoConnect(int);
-    void showHidden();
 
 private:
     void fillLanguageBox() const;
@@ -86,17 +85,6 @@ private:
     QList<QTextCodec *> m_codecs;
 
 };
-class globalSettingsWidget:public QWidget
-{
-    Q_OBJECT
-public:
-    globalSettingsWidget(QWidget * parent);
-protected:
-    void keyPressEvent(QKeyEvent *);
-signals:
-    void showHidden();
-};
-
 } // namespace Internal
 } // namespace Core
 

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

@@ -326,3 +326,13 @@ void ModeManager::setFocusToCurrentMode()
             widget->setFocus();
     }
 }
+
+void ModeManager::triggerAction(const QString &actionId)
+{
+    foreach(Command * command, m_actions.keys()){
+        if(command->action()->objectName() == actionId) {
+            command->action()->trigger();
+            break;
+        }
+    }
+}

ground/openpilotgcs/src/plugins/coreplugin/modemanager.h

@@ -82,6 +82,7 @@ public slots:
     void activateMode(const QString &id);
     void activateModeByWorkspaceName(const QString &id);
     void setFocusToCurrentMode();
+    void triggerAction(const QString &actionId);
 
 private slots:
     void objectAdded(QObject *obj);

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp

@@ -293,7 +293,6 @@ double GCSControlGadget::constrain(double value)
 
 void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
 {
-//    int state;
     if ((buttonSettings[number].ActionID>0)&&(buttonSettings[number].FunctionID>0)&&(pressed))
     {//this button is configured
         ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();

ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp

@@ -301,7 +301,6 @@ void NMEAParser::nmeaProcessGPGSV(char *packet)
 
     const int sentence_total = tokenslist.at(1).toInt(); // Number of sentences for full data
     const int sentence_index = tokenslist.at(2).toInt(); // sentence x of y
-//    const int sat_count = tokenslist.at(3).toInt(); // Number of satellites in view
 
     int sats = (tokenslist.size() - 4) /4;
     for(int sat = 0; sat < sats; sat++) {

ground/openpilotgcs/src/plugins/hitlv2/hitlv2optionspage.ui

@@ -6,29 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>403</width>
-    <height>400</height>
+    <width>615</width>
+    <height>577</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
-   <property name="spacing">
-    <number>3</number>
-   </property>
-   <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>3</number>
-   </property>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">
      <item>
@@ -144,475 +129,569 @@
    </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <property name="topMargin">
+      <number>6</number>
+     </property>
+     <property name="bottomMargin">
+      <number>6</number>
+     </property>
      <item>
-      <widget class="QGroupBox" name="groupBox">
-       <property name="title">
-        <string>Attitude data</string>
+      <widget class="QScrollArea" name="scrollArea">
+       <property name="frameShape">
+        <enum>QFrame::NoFrame</enum>
        </property>
-       <layout class="QVBoxLayout" name="verticalLayout_2">
-        <property name="spacing">
-         <number>3</number>
-        </property>
-        <property name="leftMargin">
-         <number>3</number>
-        </property>
-        <property name="topMargin">
-         <number>3</number>
-        </property>
-        <property name="rightMargin">
-         <number>3</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <item>
-         <widget class="QGroupBox" name="attRaw">
-          <property name="title">
-           <string>AttitudeRaw (gyro, accels)</string>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-          <property name="checkable">
-           <bool>true</bool>
-          </property>
-          <property name="checked">
-           <bool>false</bool>
-          </property>
-          <layout class="QHBoxLayout" name="horizontalLayout_4">
-           <property name="spacing">
-            <number>3</number>
-           </property>
-           <property name="topMargin">
-            <number>3</number>
-           </property>
-           <property name="rightMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
-            <number>0</number>
-           </property>
-           <item>
-            <widget class="QLabel" name="label_8">
-             <property name="text">
-              <string>Refresh rate</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QSpinBox" name="attRawRate">
-             <property name="suffix">
-              <string>ms</string>
-             </property>
-             <property name="minimum">
-              <number>10</number>
-             </property>
-             <property name="maximum">
-              <number>100</number>
-             </property>
-             <property name="value">
-              <number>20</number>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-        </item>
-        <item>
-         <widget class="QGroupBox" name="attActual">
-          <property name="title">
-           <string>AttitudeActual</string>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-          <property name="checkable">
-           <bool>true</bool>
-          </property>
-          <property name="checked">
-           <bool>false</bool>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_4">
-           <property name="spacing">
-            <number>3</number>
-           </property>
-           <property name="topMargin">
-            <number>3</number>
-           </property>
-           <property name="rightMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
-            <number>0</number>
-           </property>
-           <item>
-            <widget class="QRadioButton" name="attActHW">
-             <property name="text">
-              <string>send raw data to board</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QRadioButton" name="attActSim">
-             <property name="font">
-              <font>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
-             <property name="toolTip">
-              <string/>
-             </property>
-             <property name="text">
-              <string>use values from simulator</string>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QRadioButton" name="attActCalc">
-             <property name="toolTip">
-              <string/>
-             </property>
-             <property name="text">
-              <string>calculate from AttitudeRaw</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_2">
-             <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>
-         </widget>
-        </item>
-       </layout>
-      </widget>
-     </item>
-     <item>
-      <widget class="QGroupBox" name="groupBox_2">
-       <property name="title">
-        <string>Other data</string>
+       <property name="frameShadow">
+        <enum>QFrame::Plain</enum>
        </property>
-       <layout class="QVBoxLayout" name="verticalLayout_3">
-        <property name="spacing">
-         <number>3</number>
+       <property name="widgetResizable">
+        <bool>true</bool>
+       </property>
+       <widget class="QWidget" name="scrollAreaWidgetContents_2">
+        <property name="geometry">
+         <rect>
+          <x>0</x>
+          <y>0</y>
+          <width>574</width>
+          <height>391</height>
+         </rect>
         </property>
-        <property name="leftMargin">
-         <number>3</number>
-        </property>
-        <property name="topMargin">
-         <number>3</number>
-        </property>
-        <property name="rightMargin">
-         <number>3</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <item>
-         <widget class="QGroupBox" name="homeLocation">
-          <property name="title">
-           <string>HomeLocation</string>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-          <property name="checkable">
-           <bool>true</bool>
-          </property>
-          <property name="checked">
-           <bool>false</bool>
-          </property>
-          <layout class="QHBoxLayout" name="horizontalLayout_2">
-           <property name="spacing">
-            <number>3</number>
+        <layout class="QHBoxLayout" name="horizontalLayout_4">
+         <property name="margin">
+          <number>0</number>
+         </property>
+         <item>
+          <widget class="QGroupBox" name="groupBox">
+           <property name="title">
+            <string>Attitude data</string>
            </property>
-           <property name="topMargin">
-            <number>3</number>
-           </property>
-           <property name="rightMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
-            <number>0</number>
-           </property>
-           <item>
-            <widget class="QLabel" name="label_7">
-             <property name="text">
-              <string>Refresh rate</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QSpinBox" name="homeLocRate">
-             <property name="toolTip">
-              <string>0 - update once, or every N seconds</string>
-             </property>
-             <property name="suffix">
-              <string>sec</string>
-             </property>
-             <property name="maximum">
-              <number>10</number>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-        </item>
-        <item>
-         <widget class="QGroupBox" name="gpsPosition">
-          <property name="title">
-           <string>GPSPosition</string>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-          <property name="checkable">
-           <bool>true</bool>
-          </property>
-          <property name="checked">
-           <bool>false</bool>
-          </property>
-          <layout class="QHBoxLayout" name="horizontalLayout_5">
-           <property name="spacing">
-            <number>3</number>
-           </property>
-           <property name="topMargin">
-            <number>3</number>
-           </property>
-           <property name="rightMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
-            <number>0</number>
-           </property>
-           <item>
-            <widget class="QLabel" name="label_10">
-             <property name="text">
-              <string>Refresh rate</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QSpinBox" name="gpsPosRate">
-             <property name="suffix">
-              <string>ms</string>
-             </property>
-             <property name="minimum">
-              <number>100</number>
-             </property>
-             <property name="maximum">
-              <number>2000</number>
-             </property>
-             <property name="value">
-              <number>500</number>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-        </item>
-        <item>
-         <widget class="QGroupBox" name="sonarAltitude">
-          <property name="title">
-           <string>SonarAltitude</string>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-          <property name="checkable">
-           <bool>true</bool>
-          </property>
-          <property name="checked">
-           <bool>false</bool>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_6">
-           <property name="spacing">
-            <number>3</number>
-           </property>
-           <property name="leftMargin">
-            <number>6</number>
-           </property>
-           <property name="topMargin">
-            <number>3</number>
-           </property>
-           <property name="rightMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
-            <number>0</number>
-           </property>
-           <item>
-            <layout class="QGridLayout" name="gridLayout_2">
-             <item row="0" column="0">
-              <widget class="QLabel" name="label_11">
-               <property name="text">
-                <string>Range detectioon</string>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="1">
-              <widget class="QSpinBox" name="sonarMaxAlt">
-               <property name="suffix">
-                <string>m</string>
-               </property>
-               <property name="minimum">
-                <number>1</number>
-               </property>
-               <property name="maximum">
-                <number>10</number>
-               </property>
-               <property name="value">
-                <number>5</number>
-               </property>
-              </widget>
-             </item>
-             <item row="1" column="0">
-              <widget class="QLabel" name="label_12">
-               <property name="text">
-                <string>Refresh rate</string>
-               </property>
-              </widget>
-             </item>
-             <item row="1" column="1">
-              <widget class="QSpinBox" name="sonarAltRate">
-               <property name="suffix">
-                <string>ms</string>
-               </property>
-               <property name="minimum">
-                <number>20</number>
-               </property>
-               <property name="maximum">
-                <number>2000</number>
-               </property>
-               <property name="singleStep">
-                <number>10</number>
-               </property>
-               <property name="value">
-                <number>50</number>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
-          </layout>
-         </widget>
-        </item>
-        <item>
-         <widget class="QGroupBox" name="inputCommand">
-          <property name="title">
-           <string>Map command from simulator</string>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-          <property name="checkable">
-           <bool>true</bool>
-          </property>
-          <property name="checked">
-           <bool>false</bool>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_5">
-           <property name="spacing">
-            <number>3</number>
-           </property>
-           <property name="topMargin">
-            <number>3</number>
-           </property>
-           <property name="rightMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
-            <number>0</number>
-           </property>
-           <item>
-            <widget class="QRadioButton" name="gcsReciever">
-             <property name="font">
-              <font>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
-             <property name="text">
-              <string>to GCSReciver</string>
-             </property>
-             <property name="checked">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QRadioButton" name="manualControl">
-             <property name="enabled">
-              <bool>false</bool>
-             </property>
-             <property name="text">
-              <string>to ManualCtrll (not implemented)</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_6">
-          <property name="spacing">
-           <number>6</number>
-          </property>
-          <item>
-           <widget class="QCheckBox" name="manualOutput">
-            <property name="text">
-             <string>Maximum output rate</string>
+           <layout class="QVBoxLayout" name="verticalLayout_2">
+            <property name="spacing">
+             <number>12</number>
             </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QSpinBox" name="outputRate">
-            <property name="suffix">
-             <string>ms</string>
+            <property name="leftMargin">
+             <number>3</number>
             </property>
-            <property name="minimum">
-             <number>10</number>
+            <property name="topMargin">
+             <number>18</number>
             </property>
-            <property name="maximum">
-             <number>100</number>
+            <property name="rightMargin">
+             <number>3</number>
             </property>
-            <property name="singleStep">
-             <number>5</number>
+            <property name="bottomMargin">
+             <number>0</number>
             </property>
-            <property name="value">
-             <number>15</number>
+            <item>
+             <widget class="QGroupBox" name="attRaw">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="title">
+               <string>AttitudeRaw (gyro, accels)</string>
+              </property>
+              <property name="flat">
+               <bool>true</bool>
+              </property>
+              <property name="checkable">
+               <bool>true</bool>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
+              </property>
+              <layout class="QVBoxLayout" name="verticalLayout_7">
+               <property name="spacing">
+                <number>6</number>
+               </property>
+               <property name="topMargin">
+                <number>12</number>
+               </property>
+               <property name="rightMargin">
+                <number>0</number>
+               </property>
+               <property name="bottomMargin">
+                <number>12</number>
+               </property>
+               <item>
+                <widget class="QLabel" name="label_8">
+                 <property name="text">
+                  <string>Refresh rate</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QSpinBox" name="attRawRate">
+                 <property name="suffix">
+                  <string>ms</string>
+                 </property>
+                 <property name="minimum">
+                  <number>10</number>
+                 </property>
+                 <property name="maximum">
+                  <number>100</number>
+                 </property>
+                 <property name="value">
+                  <number>20</number>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </widget>
+            </item>
+            <item>
+             <widget class="QGroupBox" name="attActual">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="title">
+               <string>AttitudeActual</string>
+              </property>
+              <property name="flat">
+               <bool>true</bool>
+              </property>
+              <property name="checkable">
+               <bool>true</bool>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
+              </property>
+              <layout class="QVBoxLayout" name="verticalLayout_4">
+               <property name="spacing">
+                <number>6</number>
+               </property>
+               <property name="topMargin">
+                <number>12</number>
+               </property>
+               <property name="rightMargin">
+                <number>0</number>
+               </property>
+               <property name="bottomMargin">
+                <number>12</number>
+               </property>
+               <item>
+                <widget class="QRadioButton" name="attActHW">
+                 <property name="text">
+                  <string>send raw data to board</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QRadioButton" name="attActSim">
+                 <property name="font">
+                  <font>
+                   <weight>75</weight>
+                   <bold>true</bold>
+                  </font>
+                 </property>
+                 <property name="toolTip">
+                  <string/>
+                 </property>
+                 <property name="text">
+                  <string>use values from simulator</string>
+                 </property>
+                 <property name="checked">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QRadioButton" name="attActCalc">
+                 <property name="toolTip">
+                  <string/>
+                 </property>
+                 <property name="text">
+                  <string>calculate from AttitudeRaw</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </widget>
+            </item>
+            <item>
+             <spacer name="verticalSpacer_2">
+              <property name="orientation">
+               <enum>Qt::Vertical</enum>
+              </property>
+              <property name="sizeType">
+               <enum>QSizePolicy::Expanding</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>20</width>
+                <height>40</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+           </layout>
+          </widget>
+         </item>
+         <item>
+          <widget class="QGroupBox" name="groupBox_2">
+           <property name="title">
+            <string>Other data</string>
+           </property>
+           <layout class="QVBoxLayout" name="verticalLayout_3">
+            <property name="spacing">
+             <number>12</number>
             </property>
-           </widget>
-          </item>
-         </layout>
-        </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>
-       </layout>
+            <property name="leftMargin">
+             <number>3</number>
+            </property>
+            <property name="topMargin">
+             <number>18</number>
+            </property>
+            <property name="rightMargin">
+             <number>3</number>
+            </property>
+            <property name="bottomMargin">
+             <number>0</number>
+            </property>
+            <item>
+             <widget class="QGroupBox" name="homeLocation">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="title">
+               <string>HomeLocation</string>
+              </property>
+              <property name="flat">
+               <bool>true</bool>
+              </property>
+              <property name="checkable">
+               <bool>true</bool>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
+              </property>
+              <layout class="QHBoxLayout" name="horizontalLayout_2">
+               <property name="spacing">
+                <number>6</number>
+               </property>
+               <property name="topMargin">
+                <number>12</number>
+               </property>
+               <property name="rightMargin">
+                <number>0</number>
+               </property>
+               <property name="bottomMargin">
+                <number>12</number>
+               </property>
+               <item>
+                <widget class="QLabel" name="label_7">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="text">
+                  <string>Refresh rate</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QSpinBox" name="homeLocRate">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="toolTip">
+                  <string>0 - update once, or every N seconds</string>
+                 </property>
+                 <property name="suffix">
+                  <string>sec</string>
+                 </property>
+                 <property name="maximum">
+                  <number>10</number>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </widget>
+            </item>
+            <item>
+             <widget class="QGroupBox" name="gpsPosition">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="title">
+               <string>GPSPosition</string>
+              </property>
+              <property name="flat">
+               <bool>true</bool>
+              </property>
+              <property name="checkable">
+               <bool>true</bool>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
+              </property>
+              <layout class="QHBoxLayout" name="horizontalLayout_5">
+               <property name="spacing">
+                <number>6</number>
+               </property>
+               <property name="topMargin">
+                <number>12</number>
+               </property>
+               <property name="rightMargin">
+                <number>0</number>
+               </property>
+               <property name="bottomMargin">
+                <number>12</number>
+               </property>
+               <item>
+                <widget class="QLabel" name="label_10">
+                 <property name="text">
+                  <string>Refresh rate</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QSpinBox" name="gpsPosRate">
+                 <property name="suffix">
+                  <string>ms</string>
+                 </property>
+                 <property name="minimum">
+                  <number>100</number>
+                 </property>
+                 <property name="maximum">
+                  <number>2000</number>
+                 </property>
+                 <property name="value">
+                  <number>500</number>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </widget>
+            </item>
+            <item>
+             <widget class="QGroupBox" name="sonarAltitude">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="title">
+               <string>SonarAltitude</string>
+              </property>
+              <property name="flat">
+               <bool>true</bool>
+              </property>
+              <property name="checkable">
+               <bool>true</bool>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
+              </property>
+              <layout class="QVBoxLayout" name="verticalLayout_6">
+               <property name="spacing">
+                <number>3</number>
+               </property>
+               <property name="leftMargin">
+                <number>6</number>
+               </property>
+               <property name="topMargin">
+                <number>3</number>
+               </property>
+               <property name="rightMargin">
+                <number>0</number>
+               </property>
+               <property name="bottomMargin">
+                <number>0</number>
+               </property>
+               <item>
+                <layout class="QGridLayout" name="gridLayout_2">
+                 <property name="topMargin">
+                  <number>6</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>6</number>
+                 </property>
+                 <item row="0" column="0">
+                  <widget class="QLabel" name="label_11">
+                   <property name="text">
+                    <string>Range detection</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="1">
+                  <widget class="QSpinBox" name="sonarMaxAlt">
+                   <property name="suffix">
+                    <string>m</string>
+                   </property>
+                   <property name="minimum">
+                    <number>1</number>
+                   </property>
+                   <property name="maximum">
+                    <number>10</number>
+                   </property>
+                   <property name="value">
+                    <number>5</number>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_12">
+                   <property name="text">
+                    <string>Refresh rate</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="1">
+                  <widget class="QSpinBox" name="sonarAltRate">
+                   <property name="suffix">
+                    <string>ms</string>
+                   </property>
+                   <property name="minimum">
+                    <number>20</number>
+                   </property>
+                   <property name="maximum">
+                    <number>2000</number>
+                   </property>
+                   <property name="singleStep">
+                    <number>10</number>
+                   </property>
+                   <property name="value">
+                    <number>50</number>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </item>
+              </layout>
+             </widget>
+            </item>
+            <item>
+             <widget class="QGroupBox" name="inputCommand">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="title">
+               <string>Map command from simulator</string>
+              </property>
+              <property name="flat">
+               <bool>true</bool>
+              </property>
+              <property name="checkable">
+               <bool>true</bool>
+              </property>
+              <property name="checked">
+               <bool>false</bool>
+              </property>
+              <layout class="QVBoxLayout" name="verticalLayout_5">
+               <property name="spacing">
+                <number>3</number>
+               </property>
+               <property name="topMargin">
+                <number>12</number>
+               </property>
+               <property name="rightMargin">
+                <number>0</number>
+               </property>
+               <property name="bottomMargin">
+                <number>12</number>
+               </property>
+               <item>
+                <widget class="QRadioButton" name="gcsReciever">
+                 <property name="font">
+                  <font>
+                   <weight>75</weight>
+                   <bold>true</bold>
+                  </font>
+                 </property>
+                 <property name="text">
+                  <string>to GCSReciver</string>
+                 </property>
+                 <property name="checked">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QRadioButton" name="manualControl">
+                 <property name="enabled">
+                  <bool>false</bool>
+                 </property>
+                 <property name="text">
+                  <string>to ManualCtrll (not implemented)</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </widget>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_6">
+              <property name="spacing">
+               <number>6</number>
+              </property>
+              <item>
+               <widget class="QCheckBox" name="manualOutput">
+                <property name="text">
+                 <string>Maximum output rate</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="outputRate">
+                <property name="suffix">
+                 <string>ms</string>
+                </property>
+                <property name="minimum">
+                 <number>10</number>
+                </property>
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>5</number>
+                </property>
+                <property name="value">
+                 <number>15</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <spacer name="verticalSpacer">
+              <property name="orientation">
+               <enum>Qt::Vertical</enum>
+              </property>
+              <property name="sizeType">
+               <enum>QSizePolicy::Expanding</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>20</width>
+                <height>40</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+           </layout>
+          </widget>
+         </item>
+        </layout>
+       </widget>
       </widget>
      </item>
     </layout>

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp

@@ -866,8 +866,10 @@ void OPMapGadgetWidget::onTelemetryConnect()
     setHome(internals::PointLatLng(LLA[0], LLA[1]),LLA[2]);
 
     if (m_map)
-		m_map->SetCurrentPosition(m_home_position.coord);         // set the map position
-
+    {
+        if(m_map->UAV->GetMapFollowType()!=UAVMapFollowType::None)
+            m_map->SetCurrentPosition(m_home_position.coord);         // set the map position
+    }
     // ***********************
 }
 
@@ -2167,6 +2169,7 @@ void OPMapGadgetWidget::on_tbFind_clicked()
     {
         pal.setColor( m_widget->leFind->backgroundRole(), Qt::green);
         m_widget->leFind->setPalette(pal);
+        m_map->SetZoom(12);
     }
     else
     {
@@ -2188,3 +2191,8 @@ void OPMapGadgetWidget::onOverlayOpacityActGroup_triggered(QAction *action)
     m_map->setOverlayOpacity(action->data().toReal()/100);
     emit overlayOpacityChanged(action->data().toReal()/100);
 }
+
+void OPMapGadgetWidget::on_leFind_returnPressed()
+{
+    on_tbFind_clicked();
+}

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h

@@ -212,6 +212,8 @@ private slots:
     void on_tbFind_clicked();
     void onHomeDoubleClick(HomeItem*);
     void onOverlayOpacityActGroup_triggered(QAction *action);
+    void on_leFind_returnPressed();
+
 private:
 	int m_min_zoom;
 	int m_max_zoom;

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.h

@@ -1,45 +1,45 @@
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef PFDQMLGADGET_H_
-#define PFDQMLQMLGADGET_H_
-
-#include <coreplugin/iuavgadget.h>
-#include "pfdqmlgadgetwidget.h"
-
-class IUAVGadget;
-class QWidget;
-class QString;
-class PfdQmlGadgetWidget;
-
-using namespace Core;
-
-class PfdQmlGadget : public Core::IUAVGadget
-{
-    Q_OBJECT
-public:
-    PfdQmlGadget(QString classId, PfdQmlGadgetWidget *widget, QWidget *parent = 0);
-    ~PfdQmlGadget();
-
-    QWidget *widget() { return m_widget; }
-    void loadConfiguration(IUAVGadgetConfiguration* config);
-
-private:
-    PfdQmlGadgetWidget *m_widget;
-};
-
-
-#endif // PFDQMLQMLGADGET_H_
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PFDQMLGADGET_H_
+#define PFDQMLQMLGADGET_H_
+
+#include <coreplugin/iuavgadget.h>
+#include "pfdqmlgadgetwidget.h"
+
+class IUAVGadget;
+class QWidget;
+class QString;
+class PfdQmlGadgetWidget;
+
+using namespace Core;
+
+class PfdQmlGadget : public Core::IUAVGadget
+{
+    Q_OBJECT
+public:
+    PfdQmlGadget(QString classId, PfdQmlGadgetWidget *widget, QWidget *parent = 0);
+    ~PfdQmlGadget();
+
+    QWidget *widget() { return m_widget; }
+    void loadConfiguration(IUAVGadgetConfiguration* config);
+
+private:
+    PfdQmlGadgetWidget *m_widget;
+};
+
+
+#endif // PFDQMLQMLGADGET_H_

ground/openpilotgcs/src/plugins/plugins.pro

@@ -223,6 +223,13 @@ plugin_uavobjectwidgetutils.depends += plugin_uavobjectutil
 plugin_uavobjectwidgetutils.depends += plugin_uavsettingsimportexport
 SUBDIRS += plugin_uavobjectwidgetutils
 
+# Setup Wizard plugin
+plugin_setupwizard.subdir = setupwizard
+plugin_setupwizard.depends = plugin_coreplugin
+plugin_setupwizard.depends += plugin_uavobjects
+plugin_setupwizard.depends += plugin_config
+SUBDIRS += plugin_setupwizard
+
 # Junsi Powerlog plugin
 #plugin_powerlog.subdir = powerlog
 #plugin_powerlog.depends = plugin_coreplugin

ground/openpilotgcs/src/plugins/scope/plotdata.cpp

@@ -165,7 +165,7 @@ bool ChronoPlotData::append(UAVObject* obj)
 
             //Perform scope math, if necessary
             if (mathFunction  == "Boxcar average" || mathFunction  == "Standard deviation"){
-                //Put the new value at the front
+                //Put the new value at the back
                 yDataHistory->append( currentValue );
 
                 // calculate average value

ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp

@@ -677,13 +677,13 @@ int ScopeGadgetWidget::csvLoggingAddData()
             }
             else
             {
-                ss  << QString().sprintf("%3.6g",plotData2->yData->last());
+                ss  << QString().sprintf("%3.10g",plotData2->yData->last());
                 m_csvLoggingDataValid=1;
             }
         }
         else
         {
-            ss  << QString().sprintf("%3.6g",plotData2->yDataHistory->last());
+            ss  << QString().sprintf("%3.10g",plotData2->yData->last());
             m_csvLoggingDataValid=1;
         }
     }

ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec

@@ -0,0 +1,12 @@
+<plugin name="SetupWizard" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2012 OpenPilot Project</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>A plugin that provides a setup wizard for easy initial setup of airframes.</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+        <dependency name="Config" version="1.0.0"/>
+        <dependency name="UAVObjects" version="1.0.0"/>
+    </dependencyList>
+</plugin>    

ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp

@@ -0,0 +1,193 @@
+/**
+ ******************************************************************************
+ *
+ * @file       connectiondiagram.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup ConnectionDiagram
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * 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 <QDebug>
+#include <QFile>
+#include <QFileDialog>
+#include "connectiondiagram.h"
+#include "ui_connectiondiagram.h"
+
+ConnectionDiagram::ConnectionDiagram(QWidget *parent, VehicleConfigurationSource* configSource) :
+    QDialog(parent), ui(new Ui::ConnectionDiagram), m_configSource(configSource), m_background(0)
+{
+    ui->setupUi(this);
+    setWindowTitle(tr("Connection Diagram"));
+    setupGraphicsScene();
+}
+
+ConnectionDiagram::~ConnectionDiagram()
+{
+    delete ui;
+}
+
+void ConnectionDiagram::resizeEvent(QResizeEvent *event)
+{
+    QWidget::resizeEvent(event);
+    ui->connectionDiagram->fitInView(m_background, Qt::KeepAspectRatio);
+}
+
+void ConnectionDiagram::showEvent(QShowEvent * event)
+{
+    QWidget::showEvent(event);
+    ui->connectionDiagram->fitInView(m_background, Qt::KeepAspectRatio);
+}
+
+void ConnectionDiagram::setupGraphicsScene()
+{
+    m_renderer = new QSvgRenderer();
+    if (QFile::exists(QString(":/setupwizard/resources/connection-diagrams.svg")) &&
+            m_renderer->load(QString(":/setupwizard/resources/connection-diagrams.svg")) &&
+            m_renderer->isValid())
+    {
+        m_scene = new QGraphicsScene(this);
+        ui->connectionDiagram->setScene(m_scene);
+        //ui->connectionDiagram->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
+
+        m_background = new QGraphicsSvgItem();
+        m_background->setSharedRenderer(m_renderer);
+        m_background->setElementId("background");
+        m_background->setOpacity(0);
+        //m_background->setFlags(QGraphicsItem::ItemClipsToShape);
+        m_background->setZValue(-1);
+        m_scene->addItem(m_background);
+
+        QList<QString> elementsToShow;
+
+        switch(m_configSource->getControllerType())
+        {
+            case VehicleConfigurationSource::CONTROLLER_CC:
+            case VehicleConfigurationSource::CONTROLLER_CC3D:
+            case VehicleConfigurationSource::CONTROLLER_REVO:
+            case VehicleConfigurationSource::CONTROLLER_PIPX:
+            default:
+                elementsToShow << "controller";
+                break;
+        }
+
+        switch (m_configSource->getVehicleType())
+        {
+            case VehicleConfigurationSource::VEHICLE_MULTI:
+                switch (m_configSource->getVehicleSubType())
+                {
+                    case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
+                        elementsToShow << "tri";
+                        break;
+                    case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
+                        elementsToShow << "quad-x";
+                        break;
+                    case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
+                        elementsToShow << "quad-p";
+                        break;
+                    case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
+                        elementsToShow << "hexa";
+                        break;
+                    case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
+                        elementsToShow << "hexa-y";
+                        break;
+                    case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
+                        elementsToShow << "hexa-h";
+                        break;
+                    default:
+                        break;
+                }
+                break;
+            case VehicleConfigurationSource::VEHICLE_FIXEDWING:
+            case VehicleConfigurationSource::VEHICLE_HELI:
+            case VehicleConfigurationSource::VEHICLE_SURFACE:
+            default:
+                break;
+        }
+
+        switch (m_configSource->getInputType())
+        {
+            case VehicleConfigurationSource::INPUT_PWM:
+                elementsToShow << "pwm" ;
+                break;
+            case VehicleConfigurationSource::INPUT_PPM:
+                elementsToShow << "ppm";
+                break;
+            case VehicleConfigurationSource::INPUT_SBUS:
+                elementsToShow << "sbus";
+                break;
+            case VehicleConfigurationSource::INPUT_DSMX10:
+            case VehicleConfigurationSource::INPUT_DSMX11:
+            case VehicleConfigurationSource::INPUT_DSM2:
+                elementsToShow << "satellite";
+                break;
+            default:
+                break;
+        }
+
+        setupGraphicsSceneItems(elementsToShow);
+
+        ui->connectionDiagram->setSceneRect(m_background->boundingRect());
+        ui->connectionDiagram->fitInView(m_background, Qt::KeepAspectRatio);
+
+        qDebug() << "Scene complete";
+    }
+}
+
+void ConnectionDiagram::setupGraphicsSceneItems(QList<QString> elementsToShow)
+{
+    qreal z = 0;
+    QRectF backgBounds = m_renderer->boundsOnElement("background");
+
+    foreach(QString elementId, elementsToShow) {
+        if(m_renderer->elementExists(elementId)) {
+            QGraphicsSvgItem* element = new QGraphicsSvgItem();
+            element->setSharedRenderer(m_renderer);
+            element->setElementId(elementId);
+            element->setZValue(z++);
+            element->setOpacity(1.0);
+
+            QMatrix matrix = m_renderer->matrixForElement(elementId);
+            QRectF orig = matrix.mapRect(m_renderer->boundsOnElement(elementId));
+            element->setPos(orig.x(),orig.y());
+
+            //QRectF orig = m_renderer->boundsOnElement(elementId);
+            //element->setPos(orig.x() - backgBounds.x(), orig.y() - backgBounds.y());
+
+            m_scene->addItem(element);
+            qDebug() << "Adding " << elementId << " to scene at " << element->pos();
+        }
+        else {
+            qDebug() << "Element with id: " << elementId << " not found.";
+        }
+    }
+}
+
+void ConnectionDiagram::on_saveButton_clicked()
+{
+    QImage image(2200, 1100, QImage::Format_ARGB32);
+    image.fill(0);
+    QPainter painter(&image);
+    m_scene->render(&painter);
+    QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "", tr("Images (*.png *.xpm *.jpg)"));
+    if(!fileName.isEmpty()) {
+        image.save(fileName);
+    }
+}

ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.h

@@ -0,0 +1,70 @@
+/**
+ ******************************************************************************
+ *
+ * @file       connectiondiagram.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup ConnectionDiagram
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef CONNECTIONDIAGRAM_H
+#define CONNECTIONDIAGRAM_H
+
+#include <QDialog>
+#include <QHash>
+#include <QSvgRenderer>
+
+#include <QGraphicsSvgItem>
+#include "vehicleconfigurationsource.h"
+
+
+namespace Ui {
+class ConnectionDiagram;
+}
+
+class ConnectionDiagram : public QDialog
+{
+    Q_OBJECT
+    
+public:
+    explicit ConnectionDiagram(QWidget *parent, VehicleConfigurationSource *configSource);
+    ~ConnectionDiagram();
+    
+private:
+    Ui::ConnectionDiagram *ui;
+    VehicleConfigurationSource *m_configSource;
+
+    QSvgRenderer *m_renderer;
+    QGraphicsSvgItem* m_background;
+    QGraphicsScene *m_scene;
+
+    void setupGraphicsScene();
+    void setupGraphicsSceneItems(QList<QString> elementsToShow);
+protected:
+    void resizeEvent(QResizeEvent *event);
+    void showEvent(QShowEvent *event);
+
+private slots:
+
+    void on_saveButton_clicked();
+};
+
+#endif // CONNECTIONDIAGRAM_H

ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.ui

@@ -0,0 +1,112 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ConnectionDiagram</class>
+ <widget class="QDialog" name="ConnectionDiagram">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>440</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <property name="sizeGripEnabled">
+   <bool>true</bool>
+  </property>
+  <property name="modal">
+   <bool>true</bool>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QGraphicsView" name="connectionDiagram">
+     <property name="frameShape">
+      <enum>QFrame::WinPanel</enum>
+     </property>
+     <property name="verticalScrollBarPolicy">
+      <enum>Qt::ScrollBarAlwaysOff</enum>
+     </property>
+     <property name="horizontalScrollBarPolicy">
+      <enum>Qt::ScrollBarAlwaysOff</enum>
+     </property>
+     <property name="backgroundBrush">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <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>
+     <item>
+      <widget class="QPushButton" name="saveButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="closeButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Close</string>
+       </property>
+       <property name="default">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>closeButton</sender>
+   <signal>clicked()</signal>
+   <receiver>ConnectionDiagram</receiver>
+   <slot>close()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>752</x>
+     <y>418</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>399</x>
+     <y>219</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

ground/openpilotgcs/src/plugins/setupwizard/levellingutil.cpp

@@ -0,0 +1,217 @@
+/**
+ ******************************************************************************
+ *
+ * @file       levellingutil.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup LevellingUtil
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * 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 "levellingutil.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "attitudesettings.h"
+#include "accels.h"
+#include "gyros.h"
+
+
+LevellingUtil::LevellingUtil(long measurementCount, long measurementRate) : QObject(),
+    m_isMeasuring(false), m_accelMeasurementCount(measurementCount), m_gyroMeasurementCount(measurementCount),
+    m_accelMeasurementRate(measurementRate), m_gyroMeasurementRate(measurementRate)
+{
+}
+
+LevellingUtil::LevellingUtil(long accelMeasurementCount, long accelMeasurementRate,
+                             long gyroMeasurementCount, long gyroMeasurementRate) : QObject(),
+    m_isMeasuring(false), m_accelMeasurementCount(accelMeasurementCount), m_gyroMeasurementCount(gyroMeasurementCount),
+    m_accelMeasurementRate(accelMeasurementRate), m_gyroMeasurementRate(gyroMeasurementRate)
+{
+}
+
+void LevellingUtil::start()
+{
+    if(!m_isMeasuring) {
+        startMeasurement();
+
+        // Set up timeout timer
+        connect(&m_timeoutTimer, SIGNAL(timeout()), this, SLOT(timeout()));
+        //Set timeout to max time of measurement + 10 secs
+        m_timeoutTimer.start(std::max(m_accelMeasurementCount * m_accelMeasurementRate, m_gyroMeasurementCount * m_gyroMeasurementRate) + 10000);
+    }
+}
+
+void LevellingUtil::abort()
+{
+    if(m_isMeasuring) {
+        stopMeasurement();
+    }
+}
+
+void LevellingUtil::gyroMeasurementsUpdated(UAVObject *obj)
+{
+    QMutexLocker locker(&m_measurementMutex);
+
+    if(m_receivedGyroUpdates < m_gyroMeasurementCount) {
+        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+        UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
+        Q_ASSERT(uavObjectManager);
+
+        Gyros * gyros = Gyros::GetInstance(uavObjectManager);
+        Gyros::DataFields gyrosData = gyros->getData();
+
+        m_gyroX += gyrosData.x;
+        m_gyroY += gyrosData.y;
+        m_gyroZ += gyrosData.z;
+
+        m_receivedGyroUpdates++;
+        emit progress(m_receivedGyroUpdates + m_receivedAccelUpdates, m_gyroMeasurementCount + m_accelMeasurementCount);
+    }
+    else if (m_receivedAccelUpdates >= m_accelMeasurementCount &&
+             m_receivedGyroUpdates >= m_gyroMeasurementCount && m_isMeasuring) {
+        stopMeasurement();
+        emit done(calculateLevellingData());
+    }
+}
+
+void LevellingUtil::accelMeasurementsUpdated(UAVObject *obj)
+{
+    QMutexLocker locker(&m_measurementMutex);
+
+    if(m_receivedAccelUpdates < m_accelMeasurementCount) {
+        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+        UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
+        Q_ASSERT(uavObjectManager);
+
+        Accels * accels = Accels::GetInstance(uavObjectManager);
+        Accels::DataFields accelsData = accels->getData();
+
+        m_accelerometerX += accelsData.x;
+        m_accelerometerY += accelsData.y;
+        m_accelerometerZ += accelsData.z;
+
+        m_receivedAccelUpdates++;
+        emit progress(m_receivedGyroUpdates + m_receivedAccelUpdates, m_gyroMeasurementCount + m_accelMeasurementCount);
+    }
+    else if (m_receivedAccelUpdates >= m_accelMeasurementCount &&
+             m_receivedGyroUpdates >= m_gyroMeasurementCount && m_isMeasuring) {
+        stopMeasurement();
+        emit done(calculateLevellingData());
+    }
+}
+
+void LevellingUtil::timeout()
+{
+    QMutexLocker locker(&m_measurementMutex);
+
+    stopMeasurement();
+    emit timeout(tr("Calibration timed out before receiving required updates."));
+}
+
+void LevellingUtil::startMeasurement()
+{
+    QMutexLocker locker(&m_measurementMutex);
+
+    m_isMeasuring = true;
+
+    // Reset variables
+    m_receivedAccelUpdates = 0;
+    m_accelerometerX = 0;
+    m_accelerometerY = 0;
+    m_accelerometerZ = 0;
+
+    m_receivedGyroUpdates = 0;
+    m_gyroX = 0;
+    m_gyroY = 0;
+    m_gyroZ = 0;
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(uavObjectManager);
+
+    // Disable gyro bias correction to see raw data
+    AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavObjectManager)->getData();
+    attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
+    AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
+
+    // Set up to receive updates for accels
+    UAVDataObject *uavObject = Accels::GetInstance(uavObjectManager);
+    connect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(accelMeasurementsUpdated(UAVObject*)));
+
+    // Set update period for accels
+    m_previousAccelMetaData = uavObject->getMetadata();
+    UAVObject::Metadata newMetaData = m_previousAccelMetaData;
+    UAVObject::SetFlightTelemetryUpdateMode(newMetaData, UAVObject::UPDATEMODE_PERIODIC);
+    newMetaData.flightTelemetryUpdatePeriod = m_accelMeasurementRate;
+    uavObject->setMetadata(newMetaData);
+
+    // Set up to receive updates from gyros
+    uavObject = Gyros::GetInstance(uavObjectManager);
+    connect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(gyroMeasurementsUpdated(UAVObject*)));
+
+    // Set update period for gyros
+    m_previousGyroMetaData = uavObject->getMetadata();
+    newMetaData = m_previousGyroMetaData;
+    UAVObject::SetFlightTelemetryUpdateMode(newMetaData, UAVObject::UPDATEMODE_PERIODIC);
+    newMetaData.flightTelemetryUpdatePeriod = m_gyroMeasurementRate;
+    uavObject->setMetadata(newMetaData);
+}
+
+void LevellingUtil::stopMeasurement()
+{
+    m_isMeasuring = false;
+
+    //Stop timeout timer
+    m_timeoutTimer.stop();
+    disconnect(&m_timeoutTimer, SIGNAL(timeout()), this, SLOT(timeout()));
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(uavObjectManager);
+
+    // Stop listening for updates from accels
+    UAVDataObject *uavObject = Accels::GetInstance(uavObjectManager);
+    disconnect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(accelMeasurementsUpdated(UAVObject*)));
+    uavObject->setMetadata(m_previousAccelMetaData);
+
+    // Stop listening for updates from gyros
+    uavObject = Gyros::GetInstance(uavObjectManager);
+    disconnect(uavObject, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(gyroMeasurementsUpdated(UAVObject*)));
+    uavObject->setMetadata(m_previousGyroMetaData);
+
+    // Enable gyro bias correction again
+    AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavObjectManager)->getData();
+    attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
+    AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
+}
+
+accelGyroBias LevellingUtil::calculateLevellingData()
+{
+    accelGyroBias bias;
+    bias.m_accelerometerXBias = m_accelerometerX / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
+    bias.m_accelerometerYBias = m_accelerometerY / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;
+    bias.m_accelerometerZBias = (m_accelerometerZ / (double)m_receivedAccelUpdates + G) / ACCELERATION_SCALE;
+
+    bias.m_gyroXBias = m_gyroX / (double)m_receivedGyroUpdates * 100.0;
+    bias.m_gyroYBias = m_gyroY / (double)m_receivedGyroUpdates * 100.0;
+    bias.m_gyroZBias = m_gyroZ / (double)m_receivedGyroUpdates * 100.0;
+    return bias;
+}
+

ground/openpilotgcs/src/plugins/setupwizard/levellingutil.h

@@ -0,0 +1,92 @@
+/**
+ ******************************************************************************
+ *
+ * @file       levellingutil.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup LevellingUtil
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef LEVELLINGUTIL_H
+#define LEVELLINGUTIL_H
+
+#include <QObject>
+#include <QTimer>
+#include <QMutex>
+
+#include "uavobject.h"
+#include "vehicleconfigurationsource.h"
+
+class LevellingUtil : public QObject
+{
+    Q_OBJECT
+public:
+    explicit LevellingUtil(long measurementCount, long measurementRate);
+    explicit LevellingUtil(long accelMeasurementCount, long accelMeasurementRate,
+                           long gyroMeasurementCount, long gyroMeasurementRate);
+
+signals:
+    void progress(long current, long total);
+    void done(accelGyroBias measuredBias);
+    void timeout(QString message);
+
+public slots:
+    void start();
+    void abort();
+
+private slots:
+    void gyroMeasurementsUpdated(UAVObject * obj);
+    void accelMeasurementsUpdated(UAVObject * obj);
+    void timeout();
+
+private:
+    static const float G = 9.81f;
+    static const float ACCELERATION_SCALE = 0.004f * 9.81f;
+
+    QMutex m_measurementMutex;
+    QTimer m_timeoutTimer;
+
+    bool m_isMeasuring;
+    long m_receivedAccelUpdates;
+    long m_receivedGyroUpdates;
+
+    long m_accelMeasurementCount;
+    long m_gyroMeasurementCount;
+    long m_accelMeasurementRate;
+    long m_gyroMeasurementRate;
+
+    UAVObject::Metadata m_previousGyroMetaData;
+    UAVObject::Metadata m_previousAccelMetaData;
+
+    double m_accelerometerX;
+    double m_accelerometerY;
+    double m_accelerometerZ;
+    double m_gyroX;
+    double m_gyroY;
+    double m_gyroZ;
+
+    void stop();
+    void startMeasurement();
+    void stopMeasurement();
+    accelGyroBias calculateLevellingData();
+};
+
+#endif // LEVELLINGUTIL_H

ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp

@@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ *
+ * @file       outputcalibrationutil.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup OutputCalibrationUtil
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * 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 "outputcalibrationutil.h"
+#include "actuatorcommand.h"
+#include "extensionsystem/pluginmanager.h"
+#include "vehicleconfigurationhelper.h"
+#include "manualcontrolsettings.h"
+
+OutputCalibrationUtil::OutputCalibrationUtil(QObject *parent) :
+    QObject(parent), m_outputChannel(-1), m_safeValue(1000)
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    m_uavObjectManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(m_uavObjectManager);
+}
+
+OutputCalibrationUtil::~OutputCalibrationUtil()
+{
+    stopChannelOutput();
+}
+
+void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
+{
+    if(m_outputChannel < 0 && channel >= 0 && channel < ActuatorCommand::CHANNEL_NUMELEM)
+    {
+        //Start output...
+        m_outputChannel = channel;
+        m_safeValue = safeValue;
+
+        qDebug() << "Starting output for channel " << m_outputChannel << "...";
+
+        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
+        Q_ASSERT(actuatorCommand);
+        UAVObject::Metadata metaData = actuatorCommand->getMetadata();
+        m_savedActuatorCommandMetadata = metaData;
+
+        //Store current data for later restore
+        m_savedActuatorCommandData = actuatorCommand->getData();
+
+        //Enable actuator control from GCS...
+        //Store current metadata for later restore
+        UAVObject::SetFlightAccess(metaData, UAVObject::ACCESS_READONLY);
+        UAVObject::SetFlightTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
+        UAVObject::SetGcsTelemetryAcked(metaData, false);
+        UAVObject::SetGcsTelemetryUpdateMode(metaData, UAVObject::UPDATEMODE_ONCHANGE);
+        metaData.gcsTelemetryUpdatePeriod = 100;
+
+        //Apply changes
+        actuatorCommand->setMetadata(metaData);
+        actuatorCommand->updated();
+
+        qDebug() << "Output for channel " << m_outputChannel << " started.";
+    }
+}
+
+void OutputCalibrationUtil::stopChannelOutput()
+{
+    if(m_outputChannel >= 0)
+    {
+        qDebug() << "Stopping output for channel " << m_outputChannel << "...";
+        //Stop output...
+        setChannelOutputValue(m_safeValue);
+        qDebug() << "Settings output for channel " << m_outputChannel << " to " << m_safeValue;
+
+        // Restore metadata to what it was before
+        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
+        Q_ASSERT(actuatorCommand);
+        //actuatorCommand->setData(m_savedActuatorCommandData);
+        actuatorCommand->setMetadata(m_savedActuatorCommandMetadata);
+        actuatorCommand->updated();
+
+        qDebug() << "Output for channel " << m_outputChannel << " stopped.";
+
+        m_outputChannel = -1;
+    }
+}
+
+void OutputCalibrationUtil::setChannelOutputValue(quint16 value)
+{
+    if(m_outputChannel >= 0)
+    {
+        //Set output value
+        qDebug() << "Setting output value for channel " << m_outputChannel << " to " << value << ".";
+        ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(m_uavObjectManager);
+        Q_ASSERT(actuatorCommand);
+        ActuatorCommand::DataFields data = actuatorCommand->getData();
+        data.Channel[m_outputChannel] = value;
+        actuatorCommand->setData(data);
+    }
+}

ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.h

@@ -0,0 +1,62 @@
+/**
+ ******************************************************************************
+ *
+ * @file       outputcalibrationutil.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup OutputCalibrationUtil
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef OUTPUTCALIBRATIONUTIL_H
+#define OUTPUTCALIBRATIONUTIL_H
+
+#include <QObject>
+#include <QList>
+#include "uavobject.h"
+#include "uavobjectmanager.h"
+#include "vehicleconfigurationsource.h"
+#include "actuatorcommand.h"
+
+
+class OutputCalibrationUtil : public QObject
+{
+    Q_OBJECT
+public:
+    explicit OutputCalibrationUtil(QObject *parent = 0);
+    ~OutputCalibrationUtil();
+    
+signals:
+    
+public slots:
+    void startChannelOutput(quint16 channel, quint16 safeValue);
+    void stopChannelOutput();
+
+    void setChannelOutputValue(quint16 value);
+
+private:
+    qint16 m_outputChannel;
+    quint16 m_safeValue;
+    UAVObject::Metadata m_savedActuatorCommandMetadata;
+    ActuatorCommand::DataFields m_savedActuatorCommandData;
+    UAVObjectManager *m_uavObjectManager;
+};
+
+#endif // OUTPUTCALIBRATIONUTIL_H