CC-39 Have GCS detect whether the board is a CC or an OP, and update the INS calibration widget accordingly.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3094 ebee16cc-31ac-478f-84a7-5cbb03baadba

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

@@ -8,5 +8,6 @@
         <dependency name="Core" version="1.0.0"/>
         <dependency name="UAVObjects" version="1.0.0"/>
         <dependency name="UAVTalk" version="1.0.0"/>
+        <dependency name="UAVObjectUtil" version="1.0.0"/>
     </dependencyList>
 </plugin>   

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

@@ -6,6 +6,7 @@ include(../../openpilotgcsplugin.pri)
 include(../../plugins/uavtalk/uavtalk.pri)
 include(../../plugins/coreplugin/coreplugin.pri)
 include(../../plugins/uavobjects/uavobjects.pri)
+include(../../plugins/uavobjectutil/uavobjectutil.pri)
 
 INCLUDEPATH += ../../libs/eigen
 

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

@@ -28,7 +28,6 @@
 #include "configahrswidget.h"
 #include "configgadgetwidget.h"
 
-#include "fancytabwidget.h"
 #include "configairframewidget.h"
 #include "configccattitudewidget.h"
 #include "configinputwidget.h"
@@ -36,6 +35,7 @@
 #include "configstabilizationwidget.h"
 #include "configtelemetrywidget.h"
 
+#include "uavobjectutilmanager.h"
 
 #include <QDebug>
 #include <QStringList>
@@ -50,7 +50,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
 {
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
 
-    FancyTabWidget *ftw = new FancyTabWidget(this, true);
+    ftw = new FancyTabWidget(this, true);
 
     ftw->setIconSize(64);
 
@@ -79,8 +79,6 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     qwd = new ConfigTelemetryWidget(this);
     ftw->insertTab(5, qwd, QIcon(":/configgadget/images/XBee.svg"), QString("Telemetry"));
 
-    qwd = new ConfigCCAttitudeWidget(this);
-    ftw->insertTab(5, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("CC Attitude"));
 
 //    qwd = new ConfigPipXtremeWidget(this);
 //    ftw->insertTab(5, qwd, QIcon(":/configgadget/images/PipXtreme.png"), QString("PipXtreme"));
@@ -109,6 +107,31 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
 }
 
 void ConfigGadgetWidget::onAutopilotConnect() {
+
+    // First of all, check what Board type we are talking to, and
+    // if necessary, remove/add tabs in the config gadget:
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
+    if (utilMngr) {
+        int board = utilMngr->getBoardModel();
+        qDebug() << "Board model: " << board;
+        if ((board & 0xff00) == 1024) {
+            // CopterControl family
+            // Delete the INS panel, replace with CC Panel:
+            ftw->setCurrentIndex(0);
+            ftw->removeTab(3);
+            QWidget *qwd = new ConfigCCAttitudeWidget(this);
+            ftw->insertTab(3, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("Attitude"));
+        } else if ((board & 0xff00) == 256 ) {
+            // Mainboard family
+            ftw->setCurrentIndex(0);
+            ftw->removeTab(3);
+            QWidget *qwd = new ConfigAHRSWidget(this);
+            ftw->insertTab(3, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
+        }
+    }
+
+
     emit autopilotConnected();
 }
 

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

@@ -35,6 +35,8 @@
 #include <QtGui/QWidget>
 #include <QList>
 
+#include "fancytabwidget.h"
+
 
 class ConfigGadgetWidget: public QWidget
 {
@@ -52,6 +54,7 @@ signals:
 
 protected:
         void resizeEvent(QResizeEvent * event);
+        FancyTabWidget *ftw;
 
 };