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CameraStabilization: UI Seems to be working now.
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@ -13,9 +13,327 @@
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<property name="windowTitle">
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<string>Form</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<layout class="QVBoxLayout" name="verticalLayout_2">
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<item>
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<widget class="QCheckBox" name="enableCameraStabilization">
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<property name="text">
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<string>Enable CameraStabilization module</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox">
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<property name="title">
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<string>Channel Ranges (number of degrees full range)</string>
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</property>
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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<layout class="QFormLayout" name="formLayout_2">
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<item row="2" column="0">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Pitch</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QLabel" name="label_3">
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<property name="text">
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<string>Yaw</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label">
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<property name="text">
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<string>Roll</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QSpinBox" name="rollOutputRange">
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<property name="maximum">
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<number>180</number>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QSpinBox" name="pitchOutputRange">
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<property name="maximum">
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<number>180</number>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QSpinBox" name="yawOutputRange">
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<property name="maximum">
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<number>180</number>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<spacer name="horizontalSpacer_4">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<spacer name="horizontalSpacer_2">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>212</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_2">
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<property name="title">
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<string>Channel Mapping (select output channel or none to disable)</string>
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</property>
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<layout class="QHBoxLayout" name="horizontalLayout_2">
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<item>
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<layout class="QFormLayout" name="formLayout">
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<item row="2" column="0">
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<widget class="QLabel" name="label_4">
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<property name="text">
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<string>Roll</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QComboBox" name="rollChannel">
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<item>
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<property name="text">
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<string>None</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 1</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 2</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 3</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 4</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 5</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 6</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 7</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 8</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QComboBox" name="yawChannel">
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<item>
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<property name="text">
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<string>None</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 1</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 2</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 3</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 4</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 5</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 6</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 7</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 8</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>Pitch</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QComboBox" name="pitchChannel">
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<item>
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<property name="text">
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<string>None</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 1</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 2</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 3</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 4</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 5</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 6</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 7</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Channel 8</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QLabel" name="label_6">
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<property name="text">
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<string>Yaw</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<spacer name="horizontalSpacer_5">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<spacer name="horizontalSpacer_3">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>212</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<layout class="QHBoxLayout" name="submitButtons">
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<item>
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<widget class="QFrame" name="frame">
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<property name="frameShape">
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<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Raised</enum>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer">
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<property name="orientation">
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@ -86,7 +404,7 @@ specific calibration button on top of the screen.</string>
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="camerastabilizationSettingsSaveSD">
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<widget class="QPushButton" name="camerastabilizationSaveSD">
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<property name="toolTip">
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<string>Send settings to the board, and save to the non-volatile memory.</string>
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</property>
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@ -1,8 +1,8 @@
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/**
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******************************************************************************
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*
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* @file configahrswidget.h
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* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @file configcamerastabilizationwidget.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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@ -38,12 +38,24 @@
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#include <QUrl>
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#include <QDesktopServices>
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#include "camerastabsettings.h"
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#include "hwsettings.h"
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#include "mixersettings.h"
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ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
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{
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m_camerastabilization = new Ui_CameraStabilizationWidget();
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m_camerastabilization->setupUi(this);
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// Connect the help button
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// Now connect the widget to the StabilizationSettings object
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connect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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connect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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// TODO: This will need to support both CC and OP later
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connect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
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// Connect buttons
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connect(m_camerastabilization->camerastabilizationSaveRAM,SIGNAL(clicked()),this,SLOT(applySettings()));
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connect(m_camerastabilization->camerastabilizationSaveSD,SIGNAL(clicked()),this,SLOT(saveSettings()));
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connect(m_camerastabilization->camerastabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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}
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@ -52,9 +64,135 @@ ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget()
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// Do nothing
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}
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void ConfigCameraStabilizationWidget::enableControls(bool enable)
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/**
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* @brief Populate the gui settings into the appropriate
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* UAV structures
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*/
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void ConfigCameraStabilizationWidget::applySettings()
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{
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m_camerastabilization->camerastabilizationSettingsSaveSD->setEnabled(enable);
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// Enable or disable the settings
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HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
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HwSettings::DataFields hwSettingsData = hwSettings->getData();
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hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] =
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m_camerastabilization->enableCameraStabilization->isChecked() ?
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HwSettings::OPTIONALMODULES_ENABLED :
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HwSettings::OPTIONALMODULES_DISABLED;
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// Update the mixer settings
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MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
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MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
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const int NUM_MIXERS = 8;
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QComboBox * selectors[3] = {
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m_camerastabilization->rollChannel,
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m_camerastabilization->pitchChannel,
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m_camerastabilization->yawChannel
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};
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// TODO: Need to reformat object so types are an
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// array themselves. This gets really awkward
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quint8 * mixerTypes[NUM_MIXERS] = {
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&mixerSettingsData.Mixer1Type,
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&mixerSettingsData.Mixer2Type,
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&mixerSettingsData.Mixer3Type,
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&mixerSettingsData.Mixer4Type,
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&mixerSettingsData.Mixer5Type,
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&mixerSettingsData.Mixer6Type,
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&mixerSettingsData.Mixer7Type,
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&mixerSettingsData.Mixer8Type,
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};
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for (int i = 0; i < 3; i++)
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{
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// Channel 1 is second entry, so becomes zero
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int mixerNum = selectors[i]->currentIndex() - 1;
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if ( *mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED &&
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(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i) ) {
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// If the mixer channel already to something that isn't what we are
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// about to set it to reset to none
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selectors[i]->setCurrentIndex(0);
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} else {
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// Make sure no other channels have this output set
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for (int j = 0; j < NUM_MIXERS; j++)
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if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i))
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*mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;
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// If this channel is assigned to one of the outputs that is not disabled
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// set it
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if(mixerNum >= 0 && mixerNum < NUM_MIXERS)
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*mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLL + i;
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}
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}
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// Update the ranges
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CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());
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CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData();
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cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL] = m_camerastabilization->rollOutputRange->value();
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cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH] = m_camerastabilization->pitchOutputRange->value();
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cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW] = m_camerastabilization->yawOutputRange->value();
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}
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/**
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* Push settings into UAV objects then save them
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*/
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void ConfigCameraStabilizationWidget::saveSettings()
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{
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applySettings();
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UAVObject * obj = HwSettings::GetInstance(getObjectManager());
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saveObjectToSD(obj);
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obj = MixerSettings::GetInstance(getObjectManager());
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saveObjectToSD(obj);
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obj = CameraStabSettings::GetInstance(getObjectManager());
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saveObjectToSD(obj);
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}
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void ConfigCameraStabilizationWidget::refreshValues()
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{
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HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
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HwSettings::DataFields hwSettingsData = hwSettings->getData();
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m_camerastabilization->enableCameraStabilization->setChecked(
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hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] ==
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HwSettings::OPTIONALMODULES_ENABLED);
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CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());
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CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData();
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m_camerastabilization->rollOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]);
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m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]);
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m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]);
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MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
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MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
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const int NUM_MIXERS = 8;
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QComboBox * selectors[3] = {
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m_camerastabilization->rollChannel,
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m_camerastabilization->pitchChannel,
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m_camerastabilization->yawChannel
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};
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// TODO: Need to reformat object so types are an
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// array themselves. This gets really awkward
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quint8 * mixerTypes[NUM_MIXERS] = {
|
||||
&mixerSettingsData.Mixer1Type,
|
||||
&mixerSettingsData.Mixer2Type,
|
||||
&mixerSettingsData.Mixer3Type,
|
||||
&mixerSettingsData.Mixer4Type,
|
||||
&mixerSettingsData.Mixer5Type,
|
||||
&mixerSettingsData.Mixer6Type,
|
||||
&mixerSettingsData.Mixer7Type,
|
||||
&mixerSettingsData.Mixer8Type,
|
||||
};
|
||||
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
// Default to none if not found. Then search for any mixer channels set to
|
||||
// this
|
||||
selectors[i]->setCurrentIndex(0);
|
||||
for (int j = 0; j < NUM_MIXERS; j++)
|
||||
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i) &&
|
||||
selectors[i]->currentIndex() != (j + 1))
|
||||
selectors[i]->setCurrentIndex(j + 1);
|
||||
}
|
||||
}
|
||||
|
||||
void ConfigCameraStabilizationWidget::openHelp()
|
||||
|
@ -56,6 +56,9 @@ private:
|
||||
|
||||
private slots:
|
||||
void openHelp();
|
||||
void applySettings();
|
||||
void saveSettings();
|
||||
void refreshValues();
|
||||
|
||||
protected:
|
||||
|
||||
|
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Reference in New Issue
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