Merge branch 'thread/OP-1756_Multi_Motor_Calibration' into next

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

@@ -168,7 +168,7 @@ void ConnectionDiagram::setupGraphicsScene()
         case VehicleConfigurationSource::CONTROLLER_CC3D:
             prefix = "cc-";
             if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT ||
-                    m_configSource->getEscType() == VehicleConfigurationSource::ESC_RAPID) {
+                m_configSource->getEscType() == VehicleConfigurationSource::ESC_RAPID) {
                 suffix = "-oneshot";
             }
             break;

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

@@ -100,7 +100,7 @@ void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValu
     startChannelOutput(channels, safeValue);
 }
 
-void OutputCalibrationUtil::startChannelOutput(QList<quint16> channels, quint16 safeValue)
+void OutputCalibrationUtil::startChannelOutput(QList<quint16> &channels, quint16 safeValue)
 {
     if (c_prepared) {
         m_outputChannels = channels;

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

@@ -44,7 +44,7 @@ public:
 
 public slots:
     void startChannelOutput(quint16 channel, quint16 safeValue);
-    void startChannelOutput(QList<quint16> channels, quint16 safeValue);
+    void startChannelOutput(QList<quint16> &channels, quint16 safeValue);
     void stopChannelOutput();
     void setChannelOutputValue(quint16 value);
 

ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp

@@ -44,7 +44,7 @@ OutputCalibrationPage::OutputCalibrationPage(SetupWizard *wizard, QWidget *paren
     m_vehicleRenderer = new QSvgRenderer();
 
     // move the code that was here to setupVehicle() so we can determine which image to use.
-    m_vehicleScene    = new QGraphicsScene(this);
+    m_vehicleScene = new QGraphicsScene(this);
     ui->vehicleView->setScene(m_vehicleScene);
 }
 
@@ -112,6 +112,7 @@ void OutputCalibrationPage::setupVehicle()
     m_actuatorSettings = getWizard()->getActuatorSettings();
     m_wizardIndexes.clear();
     m_vehicleElementIds.clear();
+    m_vehicleElementTypes.clear();
     m_vehicleHighlightElementIndexes.clear();
     m_channelIndex.clear();
     m_currentWizardIndex = 0;
@@ -131,6 +132,9 @@ void OutputCalibrationPage::setupVehicle()
         // All element ids to load from the svg file and manage.
         m_vehicleElementIds << "tri" << "tri-frame" << "tri-m1" << "tri-m2" << "tri-m3" << "tri-s1";
 
+        // The type of each element.
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << SERVO;
+
         // The index of the elementId to highlight ( not dim ) for each step
         // this is the index in the m_vehicleElementIds - 1.
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
@@ -146,6 +150,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(MULTI_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
         m_vehicleElementIds << "quad-x" << "quad-x-frame" << "quad-x-m1" << "quad-x-m2" << "quad-x-m3" << "quad-x-m4";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
         m_channelIndex << 0 << 0 << 1 << 2 << 3;
         setupActuatorMinMaxAndNeutral(0, 3, 4);
@@ -154,6 +159,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(MULTI_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 1 << 1 << 1;
         m_vehicleElementIds << "quad-p" << "quad-p-frame" << "quad-p-m1" << "quad-p-m2" << "quad-p-m3" << "quad-p-m4";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
         m_channelIndex << 0 << 0 << 1 << 2 << 3;
         setupActuatorMinMaxAndNeutral(0, 3, 4);
@@ -162,6 +168,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(MULTI_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
         m_vehicleElementIds << "hexa" << "hexa-frame" << "hexa-m1" << "hexa-m2" << "hexa-m3" << "hexa-m4" << "hexa-m5" << "hexa-m6";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
         m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
         setupActuatorMinMaxAndNeutral(0, 5, 6);
@@ -170,6 +177,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(MULTI_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
         m_vehicleElementIds << "hexa-y6" << "hexa-y6-frame" << "hexa-y6-m2" << "hexa-y6-m1" << "hexa-y6-m4" << "hexa-y6-m3" << "hexa-y6-m6" << "hexa-y6-m5";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
         m_vehicleHighlightElementIndexes << 0 << 2 << 1 << 4 << 3 << 6 << 5;
         m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
         setupActuatorMinMaxAndNeutral(0, 5, 6);
@@ -178,6 +186,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(MULTI_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
         m_vehicleElementIds << "hexa-h" << "hexa-h-frame" << "hexa-h-m1" << "hexa-h-m2" << "hexa-h-m3" << "hexa-h-m4" << "hexa-h-m5" << "hexa-h-m6";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
         m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
         setupActuatorMinMaxAndNeutral(0, 5, 6);
@@ -186,6 +195,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(MULTI_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
         m_vehicleElementIds << "hexa-x" << "hexa-x-frame" << "hexa-x-m1" << "hexa-x-m2" << "hexa-x-m3" << "hexa-x-m4" << "hexa-x-m5" << "hexa-x-m6";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR << MOTOR;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5 << 6;
         m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
         setupActuatorMinMaxAndNeutral(0, 5, 6);
@@ -195,6 +205,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(FIXEDWING_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 2 << 2 << 2 << 2;
         m_vehicleElementIds << "aileron" << "aileron-frame" << "aileron-motor" << "aileron-ail-left" << "aileron-ail-right" << "aileron-elevator" << "aileron-rudder";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
         m_channelIndex << 0 << 2 << 0 << 5 << 1 << 3;
 
@@ -206,6 +217,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(FIXEDWING_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 2 << 2 << 2;
         m_vehicleElementIds << "aileron-single" << "ail2-frame" << "ail2-motor" << "ail2-aileron" << "ail2-elevator" << "ail2-rudder";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
         m_channelIndex << 0 << 2 << 0 << 1 << 3;
 
@@ -217,6 +229,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(FIXEDWING_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 2 << 2;
         m_vehicleElementIds << "elevon" << "elevon-frame" << "elevon-motor" << "elevon-left" << "elevon-right";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3;
         m_channelIndex << 0 << 2 << 0 << 1;
 
@@ -228,6 +241,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(FIXEDWING_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 2 << 2 << 2 << 2;
         m_vehicleElementIds << "vtail" << "vtail-frame" << "vtail-motor" << "vtail-ail-left" << "vtail-ail-right" << "vtail-rudder-left" << "vtail-rudder-right";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
         m_channelIndex << 0 << 2 << 0 << 5 << 3 << 1;
 
@@ -241,6 +255,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(GROUND_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 2;
         m_vehicleElementIds << "car" << "car-frame" << "car-motor" << "car-steering";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2;
         m_channelIndex << 0 << 1 << 0;
 
@@ -252,6 +267,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(GROUND_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 1;
         m_vehicleElementIds << "tank" << "tank-frame" << "tank-left-motor" << "tank-right-motor";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << MOTOR;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2;
         m_channelIndex << 0 << 0 << 1;
 
@@ -263,6 +279,7 @@ void OutputCalibrationPage::setupVehicle()
         loadSVGFile(GROUND_SVG_FILE);
         m_wizardIndexes << 0 << 1 << 2;
         m_vehicleElementIds << "motorbike" << "motorbike-frame" << "motorbike-motor" << "motorbike-steering";
+        m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
         m_vehicleHighlightElementIndexes << 0 << 1 << 2;
         m_channelIndex << 0 << 1 << 0;
 
@@ -308,6 +325,7 @@ void OutputCalibrationPage::setupVehicleItems()
 void OutputCalibrationPage::startWizard()
 {
     ui->calibrationStack->setCurrentIndex(m_wizardIndexes[0]);
+    enableAllMotorsCheckBox(true);
     setupVehicleHighlightedPart();
 }
 
@@ -319,7 +337,11 @@ void OutputCalibrationPage::setupVehicleHighlightedPart()
 
     for (int i = 0; i < m_vehicleItems.size(); i++) {
         QGraphicsSvgItem *item = m_vehicleItems[i];
-        item->setOpacity((highlightedIndex == i) ? highlightOpaque : dimOpaque);
+        if (highlightedIndex == i || (ui->calibrateAllMotors->isChecked() && m_vehicleElementTypes[i + 1] == MOTOR)) {
+            item->setOpacity(highlightOpaque);
+        } else {
+            item->setOpacity(dimOpaque);
+        }
     }
 }
 
@@ -333,7 +355,9 @@ void OutputCalibrationPage::setWizardPage()
     qDebug() << "Current page: " << currentPageIndex;
     ui->calibrationStack->setCurrentIndex(currentPageIndex);
 
-    int currentChannel = getCurrentChannel();
+    QList<quint16> currentChannels;
+    getCurrentChannels(currentChannels);
+    int currentChannel = currentChannels[0];
     qDebug() << "Current channel: " << currentChannel + 1;
     if (currentChannel >= 0) {
         if (currentPageIndex == 1) {
@@ -378,11 +402,21 @@ void OutputCalibrationPage::initializePage()
 
 bool OutputCalibrationPage::validatePage()
 {
+    if (!isFinished()) {
+        m_currentWizardIndex++;
+        if (ui->calibrateAllMotors->isChecked() &&
+            m_currentWizardIndex > 0 &&
+            m_wizardIndexes[m_currentWizardIndex - 1] == 1) {
+            while (!isFinished() && m_wizardIndexes[m_currentWizardIndex] == 1) {
+                m_currentWizardIndex++;
+            }
+        }
+    }
+
     if (isFinished()) {
         getWizard()->setActuatorSettings(m_actuatorSettings);
         return true;
     } else {
-        m_currentWizardIndex++;
         setWizardPage();
         return false;
     }
@@ -408,17 +442,46 @@ void OutputCalibrationPage::resizeEvent(QResizeEvent *event)
 
 void OutputCalibrationPage::customBackClicked()
 {
-    if (m_currentWizardIndex > 0) {
+    if (m_currentWizardIndex >= 0) {
         m_currentWizardIndex--;
+        if (ui->calibrateAllMotors->isChecked()) {
+            while (m_currentWizardIndex > 0 &&
+                   m_wizardIndexes[m_currentWizardIndex] == 1 &&
+                   m_wizardIndexes[m_currentWizardIndex - 1] == 1) {
+                m_currentWizardIndex--;
+            }
+        }
+    }
+
+    if (m_currentWizardIndex >= 0) {
         setWizardPage();
     } else {
         getWizard()->back();
     }
 }
 
-quint16 OutputCalibrationPage::getCurrentChannel()
+void OutputCalibrationPage::getCurrentChannels(QList<quint16> &channels)
 {
-    return m_channelIndex[m_currentWizardIndex];
+    if (ui->calibrateAllMotors->isChecked()) {
+        for (int i = 1; i < m_channelIndex.size(); i++) {
+            if (m_vehicleElementTypes[i + 1] == MOTOR) {
+                channels << m_channelIndex[i];
+            }
+        }
+    } else {
+        channels << m_channelIndex[m_currentWizardIndex];
+    }
+}
+
+void OutputCalibrationPage::enableAllMotorsCheckBox(bool enable)
+{
+    if (getWizard()->getVehicleType() == SetupWizard::VEHICLE_MULTI) {
+        ui->calibrateAllMotors->setVisible(true);
+        ui->calibrateAllMotors->setEnabled(enable);
+    } else {
+        ui->calibrateAllMotors->setChecked(false);
+        ui->calibrateAllMotors->setVisible(false);
+    }
 }
 
 void OutputCalibrationPage::enableButtons(bool enable)
@@ -427,6 +490,7 @@ void OutputCalibrationPage::enableButtons(bool enable)
     getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
     getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
     getWizard()->button(QWizard::BackButton)->setEnabled(enable);
+    enableAllMotorsCheckBox(enable);
     QApplication::processEvents();
 }
 
@@ -434,35 +498,43 @@ void OutputCalibrationPage::on_motorNeutralButton_toggled(bool checked)
 {
     ui->motorNeutralButton->setText(checked ? tr("Stop") : tr("Start"));
     ui->motorNeutralSlider->setEnabled(checked);
-    quint16 channel   = getCurrentChannel();
-    quint16 safeValue = m_actuatorSettings[channel].channelMin;
 
-    if (m_actuatorSettings[channel].isReversableMotor) {
+    QList<quint16> currentChannels;
-        safeValue = m_actuatorSettings[channel].channelNeutral;
+    getCurrentChannels(currentChannels);
+    quint16 currentChannel = currentChannels[0];
+
+    quint16 safeValue = m_actuatorSettings[currentChannel].channelMin;
+
+    if (m_actuatorSettings[currentChannel].isReversableMotor) {
+        safeValue = m_actuatorSettings[currentChannel].channelNeutral;
     }
 
-    onStartButtonToggle(ui->motorNeutralButton, channel, m_actuatorSettings[channel].channelNeutral, safeValue, ui->motorNeutralSlider);
+    onStartButtonToggle(ui->motorNeutralButton, currentChannels, m_actuatorSettings[currentChannel].channelNeutral, safeValue, ui->motorNeutralSlider);
 }
 
-void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, quint16 channel, quint16 value, quint16 safeValue, QSlider *slider)
+void OutputCalibrationPage::onStartButtonToggle(QAbstractButton *button, QList<quint16> &channels,
+                                                quint16 value, quint16 safeValue, QSlider *slider)
 {
     if (button->isChecked()) {
+        // Start calibration
         if (checkAlarms()) {
             enableButtons(false);
             enableServoSliders(true);
-            m_calibrationUtil->startChannelOutput(channel, safeValue);
+            m_calibrationUtil->startChannelOutput(channels, safeValue);
             slider->setValue(value);
             m_calibrationUtil->setChannelOutputValue(value);
         } else {
             button->setChecked(false);
         }
     } else {
-        // Servos and ReversableMotors
+        // Stop calibration
-        m_calibrationUtil->startChannelOutput(channel, m_actuatorSettings[channel].channelNeutral);
+        quint16 channel = channels[0];
-
-        // Normal motor
         if ((button == ui->motorNeutralButton) && !m_actuatorSettings[channel].isReversableMotor) {
-            m_calibrationUtil->startChannelOutput(channel, m_actuatorSettings[channel].channelMin);
+            // Normal motor
+            m_calibrationUtil->startChannelOutput(channels, m_actuatorSettings[channel].channelMin);
+        } else {
+            // Servos and ReversableMotors
+            m_calibrationUtil->startChannelOutput(channels, m_actuatorSettings[channel].channelNeutral);
         }
 
         m_calibrationUtil->stopChannelOutput();
@@ -514,11 +586,13 @@ bool OutputCalibrationPage::checkAlarms()
 
 void OutputCalibrationPage::debugLogChannelValues()
 {
-    quint16 channel = getCurrentChannel();
+    QList<quint16> currentChannels;
+    getCurrentChannels(currentChannels);
+    quint16 currentChannel = currentChannels[0];
 
-    qDebug() << "ChannelMin    : " << m_actuatorSettings[channel].channelMin;
+    qDebug() << "ChannelMin    : " << m_actuatorSettings[currentChannel].channelMin;
-    qDebug() << "ChannelNeutral: " << m_actuatorSettings[channel].channelNeutral;
+    qDebug() << "ChannelNeutral: " << m_actuatorSettings[currentChannel].channelNeutral;
-    qDebug() << "ChannelMax    : " << m_actuatorSettings[channel].channelMax;
+    qDebug() << "ChannelMax    : " << m_actuatorSettings[currentChannel].channelMax;
 }
 
 void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
@@ -529,7 +603,12 @@ void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
     if (ui->motorNeutralButton->isChecked()) {
         quint16 value = ui->motorNeutralSlider->value();
         m_calibrationUtil->setChannelOutputValue(value);
-        m_actuatorSettings[getCurrentChannel()].channelNeutral = value;
+
+        QList<quint16> currentChannels;
+        getCurrentChannels(currentChannels);
+        foreach(quint16 channel, currentChannels) {
+            m_actuatorSettings[channel].channelNeutral = value;
+        }
         debugLogChannelValues();
     }
 }
@@ -537,33 +616,41 @@ void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
 void OutputCalibrationPage::on_servoButton_toggled(bool checked)
 {
     ui->servoButton->setText(checked ? tr("Stop") : tr("Start"));
-    quint16 channel   = getCurrentChannel();
+
-    quint16 safeValue = m_actuatorSettings[channel].channelNeutral;
+    QList<quint16> currentChannels;
-    onStartButtonToggle(ui->servoButton, channel, safeValue, safeValue, ui->servoCenterAngleSlider);
+    getCurrentChannels(currentChannels);
+    quint16 currentChannel = currentChannels[0];
+
+    quint16 safeValue = m_actuatorSettings[currentChannel].channelNeutral;
+    onStartButtonToggle(ui->servoButton, currentChannels, safeValue, safeValue, ui->servoCenterAngleSlider);
 }
 
 void OutputCalibrationPage::on_servoCenterAngleSlider_valueChanged(int position)
 {
     Q_UNUSED(position);
-    quint16 value   = ui->servoCenterAngleSlider->value();
+    quint16 value = ui->servoCenterAngleSlider->value();
     m_calibrationUtil->setChannelOutputValue(value);
-    quint16 channel = getCurrentChannel();
+
-    m_actuatorSettings[channel].channelNeutral = value;
+    QList<quint16> currentChannels;
+    getCurrentChannels(currentChannels);
+    quint16 currentChannel = currentChannels[0];
+
+    m_actuatorSettings[currentChannel].channelNeutral = value;
     ui->servoPWMValue->setText(tr("Output value : <b>%1</b> µs").arg(value));
 
     // Adjust min and max
     if (ui->reverseCheckbox->isChecked()) {
-        if (value >= m_actuatorSettings[channel].channelMin) {
+        if (value >= m_actuatorSettings[currentChannel].channelMin) {
             ui->servoMinAngleSlider->setValue(value);
         }
-        if (value <= m_actuatorSettings[channel].channelMax) {
+        if (value <= m_actuatorSettings[currentChannel].channelMax) {
             ui->servoMaxAngleSlider->setValue(value);
         }
     } else {
-        if (value <= m_actuatorSettings[channel].channelMin) {
+        if (value <= m_actuatorSettings[currentChannel].channelMin) {
             ui->servoMinAngleSlider->setValue(value);
         }
-        if (value >= m_actuatorSettings[channel].channelMax) {
+        if (value >= m_actuatorSettings[currentChannel].channelMax) {
             ui->servoMaxAngleSlider->setValue(value);
         }
     }
@@ -575,21 +662,26 @@ void OutputCalibrationPage::on_servoMinAngleSlider_valueChanged(int position)
     Q_UNUSED(position);
     quint16 value = ui->servoMinAngleSlider->value();
     m_calibrationUtil->setChannelOutputValue(value);
-    m_actuatorSettings[getCurrentChannel()].channelMin = value;
+
+    QList<quint16> currentChannels;
+    getCurrentChannels(currentChannels);
+    quint16 currentChannel = currentChannels[0];
+
+    m_actuatorSettings[currentChannel].channelMin = value;
 
     // Adjust neutral and max
     if (ui->reverseCheckbox->isChecked()) {
-        if (value <= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
+        if (value <= m_actuatorSettings[currentChannel].channelNeutral) {
             ui->servoCenterAngleSlider->setValue(value);
         }
-        if (value <= m_actuatorSettings[getCurrentChannel()].channelMax) {
+        if (value <= m_actuatorSettings[currentChannel].channelMax) {
             ui->servoMaxAngleSlider->setValue(value);
         }
     } else {
-        if (value >= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
+        if (value >= m_actuatorSettings[currentChannel].channelNeutral) {
             ui->servoCenterAngleSlider->setValue(value);
         }
-        if (value >= m_actuatorSettings[getCurrentChannel()].channelMax) {
+        if (value >= m_actuatorSettings[currentChannel].channelMax) {
             ui->servoMaxAngleSlider->setValue(value);
         }
     }
@@ -601,21 +693,26 @@ void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
     Q_UNUSED(position);
     quint16 value = ui->servoMaxAngleSlider->value();
     m_calibrationUtil->setChannelOutputValue(value);
-    m_actuatorSettings[getCurrentChannel()].channelMax = value;
+
+    QList<quint16> currentChannels;
+    getCurrentChannels(currentChannels);
+    quint16 currentChannel = currentChannels[0];
+
+    m_actuatorSettings[currentChannel].channelMax = value;
 
     // Adjust neutral and min
     if (ui->reverseCheckbox->isChecked()) {
-        if (value >= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
+        if (value >= m_actuatorSettings[currentChannel].channelNeutral) {
             ui->servoCenterAngleSlider->setValue(value);
         }
-        if (value >= m_actuatorSettings[getCurrentChannel()].channelMin) {
+        if (value >= m_actuatorSettings[currentChannel].channelMin) {
             ui->servoMinAngleSlider->setValue(value);
         }
     } else {
-        if (value <= m_actuatorSettings[getCurrentChannel()].channelNeutral) {
+        if (value <= m_actuatorSettings[currentChannel].channelNeutral) {
             ui->servoCenterAngleSlider->setValue(value);
         }
-        if (value <= m_actuatorSettings[getCurrentChannel()].channelMin) {
+        if (value <= m_actuatorSettings[currentChannel].channelMin) {
             ui->servoMinAngleSlider->setValue(value);
         }
     }
@@ -624,14 +721,18 @@ void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
 
 void OutputCalibrationPage::on_reverseCheckbox_toggled(bool checked)
 {
-    if (checked && m_actuatorSettings[getCurrentChannel()].channelMax > m_actuatorSettings[getCurrentChannel()].channelMin) {
+    QList<quint16> currentChannels;
-        quint16 oldMax = m_actuatorSettings[getCurrentChannel()].channelMax;
+    getCurrentChannels(currentChannels);
-        m_actuatorSettings[getCurrentChannel()].channelMax = m_actuatorSettings[getCurrentChannel()].channelMin;
+    quint16 currentChannel = currentChannels[0];
-        m_actuatorSettings[getCurrentChannel()].channelMin = oldMax;
+
-    } else if (!checked && m_actuatorSettings[getCurrentChannel()].channelMax < m_actuatorSettings[getCurrentChannel()].channelMin) {
+    if (checked && m_actuatorSettings[currentChannel].channelMax > m_actuatorSettings[currentChannel].channelMin) {
-        quint16 oldMax = m_actuatorSettings[getCurrentChannel()].channelMax;
+        quint16 oldMax = m_actuatorSettings[currentChannel].channelMax;
-        m_actuatorSettings[getCurrentChannel()].channelMax = m_actuatorSettings[getCurrentChannel()].channelMin;
+        m_actuatorSettings[currentChannel].channelMax = m_actuatorSettings[currentChannel].channelMin;
-        m_actuatorSettings[getCurrentChannel()].channelMin = oldMax;
+        m_actuatorSettings[currentChannel].channelMin = oldMax;
+    } else if (!checked && m_actuatorSettings[currentChannel].channelMax < m_actuatorSettings[currentChannel].channelMin) {
+        quint16 oldMax = m_actuatorSettings[currentChannel].channelMax;
+        m_actuatorSettings[currentChannel].channelMax = m_actuatorSettings[currentChannel].channelMin;
+        m_actuatorSettings[currentChannel].channelMin = oldMax;
     }
     ui->servoCenterAngleSlider->setInvertedAppearance(checked);
     ui->servoCenterAngleSlider->setInvertedControls(checked);
@@ -641,16 +742,22 @@ void OutputCalibrationPage::on_reverseCheckbox_toggled(bool checked)
     ui->servoMaxAngleSlider->setInvertedControls(checked);
 
     if (ui->reverseCheckbox->isChecked()) {
-        ui->servoMaxAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMax);
+        ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
-        ui->servoCenterAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelNeutral);
+        ui->servoCenterAngleSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
-        ui->servoMinAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMin);
+        ui->servoMinAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMin);
     } else {
-        ui->servoMinAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMin);
+        ui->servoMinAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMin);
-        ui->servoCenterAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelNeutral);
+        ui->servoCenterAngleSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
-        ui->servoMaxAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMax);
+        ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
     }
 }
 
+void OutputCalibrationPage::on_calibrateAllMotors_toggled(bool checked)
+{
+    Q_UNUSED(checked);
+    setupVehicleHighlightedPart();
+}
+
 void OutputCalibrationPage::resetOutputCalibrationUtil()
 {
     if (m_calibrationUtil) {

ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h

@@ -49,7 +49,7 @@ public:
 
     bool isFinished()
     {
-        return m_currentWizardIndex >= m_wizardIndexes.size() - 1;
+        return m_currentWizardIndex >= m_wizardIndexes.size();
     }
 
     void loadSVGFile(QString file);
@@ -70,8 +70,10 @@ private slots:
     void on_servoMinAngleSlider_valueChanged(int position);
     void on_servoMaxAngleSlider_valueChanged(int position);
     void on_reverseCheckbox_toggled(bool checked);
+    void on_calibrateAllMotors_toggled(bool checked);
 
 private:
+    enum ElementType { FULL, FRAME, MOTOR, SERVO };
     void setupVehicle();
     void startWizard();
     void setupVehicleItems();
@@ -79,10 +81,12 @@ private:
     void setWizardPage();
     void enableButtons(bool enable);
     void enableServoSliders(bool enabled);
-    void onStartButtonToggle(QAbstractButton *button, quint16 channel, quint16 value, quint16 safeValue, QSlider *slider);
+    void onStartButtonToggle(QAbstractButton *button, QList<quint16> &channels,
+                             quint16 value, quint16 safeValue, QSlider *slider);
     bool checkAlarms();
     void debugLogChannelValues();
-    quint16 getCurrentChannel();
+    void getCurrentChannels(QList<quint16> &channels);
+    void enableAllMotorsCheckBox(bool enable);
 
     Ui::OutputCalibrationPage *ui;
     QSvgRenderer *m_vehicleRenderer;
@@ -92,6 +96,7 @@ private:
     qint16 m_currentWizardIndex;
 
     QList<QString> m_vehicleElementIds;
+    QList<ElementType> m_vehicleElementTypes;
     QList<QGraphicsSvgItem *> m_vehicleItems;
     QList<quint16> m_vehicleHighlightElementIndexes;
     QList<quint16> m_channelIndex;

ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.ui

@@ -53,7 +53,7 @@
    <item row="1" column="0">
     <widget class="QStackedWidget" name="calibrationStack">
      <property name="currentIndex">
-      <number>2</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="intro">
       <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -123,6 +123,26 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
+       <item>
+        <widget class="QCheckBox" name="calibrateAllMotors">
+         <property name="text">
+          <string>Calibrate all motor outputs at the same time</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>
        <item>
         <widget class="QLabel" name="motorPWMValue">
          <property name="text">

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

@@ -489,6 +489,9 @@ void SetupWizard::customBackClicked()
         static_cast<OutputCalibrationPage *>(currentPage())->customBackClicked();
     } else {
         back();
+        if (currentId() == PAGE_OUTPUT_CALIBRATION) {
+            static_cast<OutputCalibrationPage *>(currentPage())->customBackClicked();
+        }
     }
 }