From 561fb364a52d75983cb8160bd021dcc1d4ad7bff Mon Sep 17 00:00:00 2001
From: a*morale <alessiomorale@gmail.com>
Date: Tue, 21 Oct 2014 00:12:09 +0200
Subject: [PATCH] OP-1548 - Adding limits to FusionAlgorithm

---
 ground/openpilotgcs/src/plugins/config/configrevowidget.cpp | 6 ++++--
 shared/uavobjectdefinition/revosettings.xml                 | 5 ++++-
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
index c512e3cde..d4d1ea933 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
@@ -186,7 +186,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
     // home location
     connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation()));
 
-    addWidgetBinding("RevoSettings", "FusionAlgorithm", m_ui->FusionAlgorithm);
+    addWidgetBinding("RevoSettings", "FusionAlgorithm", m_ui->FusionAlgorithm, 0, 1, true);
 
     addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->rollRotation, AttitudeSettings::BOARDROTATION_ROLL);
     addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->pitchRotation, AttitudeSettings::BOARDROTATION_PITCH);
@@ -194,10 +194,12 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
     addWidgetBinding("AttitudeSettings", "AccelTau", m_ui->accelTau);
 
     populateWidgets();
-    refreshWidgetsValues();
     enableAllCalibrations();
 
+    updateEnableControls();
+
     forceConnectedState();
+    refreshWidgetsValues();
 }
 
 ConfigRevoWidget::~ConfigRevoWidget()
diff --git a/shared/uavobjectdefinition/revosettings.xml b/shared/uavobjectdefinition/revosettings.xml
index d2c8b9d4f..a13cadce3 100644
--- a/shared/uavobjectdefinition/revosettings.xml
+++ b/shared/uavobjectdefinition/revosettings.xml
@@ -1,7 +1,10 @@
 <xml>
     <object name="RevoSettings" singleinstance="true" settings="true" category="State">
         <description>Settings for the revo to control the algorithm and what is updated</description>
-        <field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,INS13GPSOutdoor" defaultvalue="Complementary"/>
+        <field name="FusionAlgorithm" units="" type="enum" elements="1" 
+        options="None,Complementary,Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,INS13GPSOutdoor" 
+        limits="%NE:None:Complementary+Mag:Complementary+Mag+GPSOutdoor:INS13Indoor;"
+        defaultvalue="Complementary"/>
 
         <!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
         Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062