From 481005cc69a7e290eb7853111105d4d2f0a3614c Mon Sep 17 00:00:00 2001 From: filnet Date: Wed, 16 Jan 2013 22:30:16 +0100 Subject: [PATCH 01/39] OP-803 transparent refactoring - moved specific save/restore code from SplitterOrView to UAVGadgetView and made some methods private --- .../uavgadgetmanager/splitterorview.cpp | 15 ++----------- .../uavgadgetmanager/uavgadgetview.cpp | 21 +++++++++++++++++++ .../uavgadgetmanager/uavgadgetview.h | 8 +++++-- 3 files changed, 29 insertions(+), 15 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp index 183ffa185..2a3a02f64 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp @@ -347,11 +347,7 @@ void SplitterOrView::saveState(QSettings* qSettings) const { static_cast(m_splitter->widget(1))->saveState(qSettings); qSettings->endGroup(); } else if (gadget()) { - qSettings->setValue("type", "uavGadget"); - qSettings->setValue("classId", gadget()->classId()); - qSettings->beginGroup("gadget"); - gadget()->saveState(qSettings); - qSettings->endGroup(); + m_view->saveState(qSettings); } } @@ -374,13 +370,6 @@ void SplitterOrView::restoreState(QSettings* qSettings) static_cast(m_splitter->widget(1))->restoreState(qSettings); qSettings->endGroup(); } else if (mode == "uavGadget") { - QString classId = qSettings->value("classId").toString(); - int index = m_view->indexOfClassId(classId); - m_view->listSelectionActivated(index); - if(qSettings->childGroups().contains("gadget")) { - qSettings->beginGroup("gadget"); - gadget()->restoreState(qSettings); - qSettings->endGroup(); - } + m_view->restoreState(qSettings); } } diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp index 13b2b3062..6deb3adc9 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp @@ -252,3 +252,24 @@ void UAVGadgetView::currentGadgetChanged(IUAVGadget *gadget) { m_activeLabel->setVisible(m_uavGadget == gadget); } + +void UAVGadgetView::saveState(QSettings* qSettings) +{ + qSettings->setValue("type", "uavGadget"); + qSettings->setValue("classId", gadget()->classId()); + qSettings->beginGroup("gadget"); + gadget()->saveState(qSettings); + qSettings->endGroup(); +} + +void UAVGadgetView::restoreState(QSettings* qSettings) +{ + QString classId = qSettings->value("classId").toString(); + int index = indexOfClassId(classId); + listSelectionActivated(index); + if(qSettings->childGroups().contains("gadget")) { + qSettings->beginGroup("gadget"); + gadget()->restoreState(qSettings); + qSettings->endGroup(); + } +} diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h index 494f456f0..2f2a12992 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h @@ -71,17 +71,21 @@ public: IUAVGadget *gadget() const; void setGadget(IUAVGadget *uavGadget); bool hasGadget(IUAVGadget *uavGadget) const; - int indexOfClassId(QString classId); + void showToolbar(bool show); + void saveState(QSettings* qSettings); + void restoreState(QSettings* qSettings); + public slots: void closeView(); - void listSelectionActivated(int index); private slots: + void listSelectionActivated(int index); void currentGadgetChanged(IUAVGadget *gadget); private: + int indexOfClassId(QString classId); void updateToolBar(); QPointer m_uavGadgetManager; From 1e3aeaf988a500a28ff8c84b61bf64d62dc10d28 Mon Sep 17 00:00:00 2001 From: filnet Date: Wed, 16 Jan 2013 23:43:22 +0100 Subject: [PATCH 02/39] OP-803 fix attempt --- .../plugins/coreplugin/uavgadgetdecorator.cpp | 4 ++-- .../coreplugin/uavgadgetinstancemanager.cpp | 8 +++++-- .../coreplugin/uavgadgetinstancemanager.h | 2 +- .../uavgadgetmanager/uavgadgetview.cpp | 22 +++++++++++++++++-- 4 files changed, 29 insertions(+), 7 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp index fd6d1164e..55d3a9a31 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp @@ -45,8 +45,8 @@ UAVGadgetDecorator::UAVGadgetDecorator(IUAVGadget *gadget, QListaddItem(config->name()); connect(m_toolbar, SIGNAL(activated(int)), this, SLOT(loadConfiguration(int))); - if (m_configurations->count() > 0) - loadConfiguration(0); +// if (m_configurations->count() > 0) +// loadConfiguration(0); updateToolbar(); } diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp index 55dc239a8..3393dc4b5 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp @@ -253,13 +253,17 @@ void UAVGadgetInstanceManager::createOptionsPages() } -IUAVGadget *UAVGadgetInstanceManager::createGadget(QString classId, QWidget *parent) +IUAVGadget *UAVGadgetInstanceManager::createGadget(QString classId, QWidget *parent, bool loadDefaultConfiguration) { IUAVGadgetFactory *f = factory(classId); if (f) { QList *configs = configurations(classId); IUAVGadget *g = f->createGadget(parent); - IUAVGadget *gadget = new UAVGadgetDecorator(g, configs); + UAVGadgetDecorator *gadget = new UAVGadgetDecorator(g, configs); + if ((loadDefaultConfiguration && configs && configs->count()) > 0) { + gadget->loadConfiguration(configs->at(0)); + } + m_gadgetInstances.append(gadget); connect(this, SIGNAL(configurationAdded(IUAVGadgetConfiguration*)), gadget, SLOT(configurationAdded(IUAVGadgetConfiguration*))); connect(this, SIGNAL(configurationChanged(IUAVGadgetConfiguration*)), gadget, SLOT(configurationChanged(IUAVGadgetConfiguration*))); diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.h b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.h index fab30f284..a67953fc1 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.h +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.h @@ -61,7 +61,7 @@ public: ~UAVGadgetInstanceManager(); void readSettings(QSettings *qs); void saveSettings(QSettings *qs); - IUAVGadget *createGadget(QString classId, QWidget *parent); + IUAVGadget *createGadget(QString classId, QWidget *parent, bool loadDefaultConfiguration = true); void removeGadget(IUAVGadget *gadget); void removeAllGadgets(); bool canDeleteConfiguration(IUAVGadgetConfiguration *config); diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp index 6deb3adc9..6fef953d6 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp @@ -265,11 +265,29 @@ void UAVGadgetView::saveState(QSettings* qSettings) void UAVGadgetView::restoreState(QSettings* qSettings) { QString classId = qSettings->value("classId").toString(); + int index = indexOfClassId(classId); - listSelectionActivated(index); + if (index < 0) { + index = m_defaultIndex; + } + + classId = m_uavGadgetList->itemData(index).toString(); + + + IUAVGadget *newGadget; + UAVGadgetInstanceManager *im = ICore::instance()->uavGadgetInstanceManager(); if(qSettings->childGroups().contains("gadget")) { + newGadget = im->createGadget(classId, this, false); qSettings->beginGroup("gadget"); - gadget()->restoreState(qSettings); + newGadget->restoreState(qSettings); qSettings->endGroup(); } + else { + newGadget = im->createGadget(classId, this); + } + + IUAVGadget *gadgetToRemove = m_uavGadget; + setGadget(newGadget); + m_uavGadgetManager->setCurrentGadget(newGadget); + im->removeGadget(gadgetToRemove); } From a9d2679e3925be4e7cb8c50595f75e3fe23bef59 Mon Sep 17 00:00:00 2001 From: filnet Date: Sun, 20 Jan 2013 17:32:55 +0100 Subject: [PATCH 03/39] OP-803 minor cleanups --- .../src/plugins/coreplugin/uavgadgetdecorator.cpp | 7 ++++--- .../coreplugin/uavgadgetmanager/uavgadgetview.cpp | 9 +++------ .../plugins/coreplugin/uavgadgetmanager/uavgadgetview.h | 6 +++--- 3 files changed, 10 insertions(+), 12 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp index 55d3a9a31..9857831c0 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp @@ -115,17 +115,18 @@ void UAVGadgetDecorator::updateToolbar() void UAVGadgetDecorator::saveState(QSettings* qSettings) { if (m_activeConfiguration) { - qSettings->setValue("activeConfiguration",m_activeConfiguration->name()); + qSettings->setValue("activeConfiguration", m_activeConfiguration->name()); } } -void UAVGadgetDecorator::restoreState(QSettings* qSetting) +void UAVGadgetDecorator::restoreState(QSettings* qSettings) { - QString configName = qSetting->value("activeConfiguration").toString(); + QString configName = qSettings->value("activeConfiguration").toString(); foreach (IUAVGadgetConfiguration *config, *m_configurations) { if (config->name() == configName) { m_activeConfiguration = config; loadConfiguration(config); + break; } } } diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp index 6fef953d6..3cf7a0387 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp @@ -230,14 +230,14 @@ void UAVGadgetView::updateToolBar() void UAVGadgetView::listSelectionActivated(int index) { - if (index < 0) // this could happen when called from SplitterOrView::restoreState() - index = m_defaultIndex; QString classId = m_uavGadgetList->itemData(index).toString(); if (m_uavGadget && (m_uavGadget->classId() == classId)) return; + UAVGadgetInstanceManager *im = ICore::instance()->uavGadgetInstanceManager(); - IUAVGadget *gadgetToRemove = m_uavGadget; IUAVGadget *gadget = im->createGadget(classId, this); + + IUAVGadget *gadgetToRemove = m_uavGadget; setGadget(gadget); m_uavGadgetManager->setCurrentGadget(gadget); im->removeGadget(gadgetToRemove); @@ -265,15 +265,12 @@ void UAVGadgetView::saveState(QSettings* qSettings) void UAVGadgetView::restoreState(QSettings* qSettings) { QString classId = qSettings->value("classId").toString(); - int index = indexOfClassId(classId); if (index < 0) { index = m_defaultIndex; } - classId = m_uavGadgetList->itemData(index).toString(); - IUAVGadget *newGadget; UAVGadgetInstanceManager *im = ICore::instance()->uavGadgetInstanceManager(); if(qSettings->childGroups().contains("gadget")) { diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h index 2f2a12992..aaf051ba7 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h @@ -67,15 +67,15 @@ public: UAVGadgetView(UAVGadgetManager *uavGadgetManager, IUAVGadget *uavGadget = 0, QWidget *parent = 0); virtual ~UAVGadgetView(); - void removeGadget(); IUAVGadget *gadget() const; void setGadget(IUAVGadget *uavGadget); bool hasGadget(IUAVGadget *uavGadget) const; + void removeGadget(); void showToolbar(bool show); - void saveState(QSettings* qSettings); - void restoreState(QSettings* qSettings); + void saveState(QSettings *qSettings); + void restoreState(QSettings *qSettings); public slots: void closeView(); From 03ad1e55f5812dc024ddf5990c52344902bb2753 Mon Sep 17 00:00:00 2001 From: Kevin Vertucio Date: Tue, 22 Jan 2013 00:26:27 -0500 Subject: [PATCH 04/39] converted "About Authors" and "About OpenPilot GCS" to QML added dependent QML files Signed-off-by: Kevin Vertucio --- .../src/plugins/coreplugin/CREDITS.html | 10 +- .../src/plugins/coreplugin/authorsdialog.cpp | 106 ++-- .../src/plugins/coreplugin/core.qrc | 4 + .../src/plugins/coreplugin/coreplugin.pro | 5 +- .../plugins/coreplugin/coreplugin.pro.user | 564 ++++++++++++++++++ .../src/plugins/coreplugin/mainwindow.cpp | 14 +- .../plugins/coreplugin/qml/AboutDialog.qml | 106 ++++ .../coreplugin/qml/FlickableWebView.qml | 196 ++++++ .../src/plugins/coreplugin/qml/TabWidget.qml | 102 ++++ .../src/plugins/coreplugin/qml/images/tab.png | Bin 0 -> 507 bytes 10 files changed, 1061 insertions(+), 46 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro.user create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/qml/TabWidget.qml create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/qml/images/tab.png diff --git a/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html b/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html index 341e288f6..c80fe5325 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html +++ b/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html @@ -1,6 +1,10 @@ -

This is a credits file of people that are or have been key contributors to the OpenPilot project. -Without the work of the people in this file OpenPilot would not be what it is today.

+ + +

This is a credits file of people that are or have been key contributors to the OpenPilot project.Without the work of the people in this file OpenPilot would not be what it is today.

It is sorted alphabetically by name

@@ -77,5 +81,5 @@ Mat Wellington Kendal Wells Dmitriy Zaitsev - + diff --git a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp index a6cb6b8c5..67b3c28f6 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp @@ -42,6 +42,11 @@ #include #include #include + +#include +#include +#include +#include using namespace Core; using namespace Core::Internal; @@ -52,45 +57,78 @@ AuthorsDialog::AuthorsDialog(QWidget *parent) { // We need to set the window icon explicitly here since for some reason the // application icon isn't used when the size of the dialog is fixed (at least not on X11/GNOME) + setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png")); - - setWindowTitle(tr("About OpenPilot Authors")); + setWindowTitle(tr("About OpenPilot")); setWindowFlags(windowFlags() & ~Qt::WindowContextHelpButtonHint); - QGridLayout *layout = new QGridLayout(this); - layout->setSizeConstraint(QLayout::SetFixedSize); + //This loads a QML doc containing a Tabbed view + QDeclarativeView *view = new QDeclarativeView(this); + view->setSource(QUrl("qrc:/core/qml/AboutDialog.qml")); - QString version = QLatin1String(GCS_VERSION_LONG); - version += QDate(2007, 25, 10).toString(Qt::SystemLocaleDate); - QString ideRev; -#ifdef GCS_REVISION - //: This gets conditionally inserted as argument %8 into the description string. - ideRev = tr("From revision %1
").arg(QString::fromLatin1(GCS_REVISION_STR).left(10)); -#endif - const QString description = tr( - "

The OpenPilot Project

" - "Proudly brought to you by this fine team:
" - ); + QString version = QLatin1String(GCS_VERSION_LONG); + version += QDate(2007, 25, 10).toString(Qt::SystemLocaleDate); + + QString ideRev; + #ifdef GCS_REVISION + //: This gets conditionally inserted as argument %8 into the description string. + ideRev = tr("From revision %1
").arg(QString::fromLatin1(GCS_REVISION_STR).left(10)); + #endif - QLabel *copyRightLabel = new QLabel(description); - copyRightLabel->setWordWrap(true); - copyRightLabel->setOpenExternalLinks(true); - copyRightLabel->setTextInteractionFlags(Qt::TextBrowserInteraction); + #ifdef UAVO_HASH + //: This gets conditionally inserted as argument %11 into the description string. + QByteArray uavoHashArray; + QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR); + uavoHash.chop(2); + uavoHash.remove(0,2); + uavoHash=uavoHash.trimmed(); + bool ok; + foreach(QString str,uavoHash.split(",")) + { + uavoHashArray.append(str.toInt(&ok,16)); + } + QString gcsUavoHashStr; + foreach(char i, uavoHashArray) + { + gcsUavoHashStr.append(QString::number(i,16).right(2)); + } + QString uavoHashStr = gcsUavoHashStr; + #else + QString uavoHashStr = "N/A"; + #endif - QTextBrowser *creditsArea = new QTextBrowser(this); - creditsArea->setSource(QUrl("qrc:core/CREDITS.html")); - - QDialogButtonBox *buttonBox = new QDialogButtonBox(QDialogButtonBox::Close); - QPushButton *closeButton = buttonBox->button(QDialogButtonBox::Close); - QTC_ASSERT(closeButton, /**/); - buttonBox->addButton(closeButton, QDialogButtonBox::ButtonRole(QDialogButtonBox::RejectRole | QDialogButtonBox::AcceptRole)); - connect(buttonBox , SIGNAL(rejected()), this, SLOT(reject())); - - QLabel *logoLabel = new QLabel; - logoLabel->setPixmap(QPixmap(QLatin1String(":/core/images/openpilot_logo_128.png"))); - layout->addWidget(logoLabel , 0, 0, 1, 1); - layout->addWidget(copyRightLabel, 0, 1, 2, 4); - layout->addWidget(creditsArea, 3, 0, 2, 5); - layout->addWidget(buttonBox, 6, 0, 1, 5); + const QString description = tr( + "

OpenPilot Ground Control Station

" + "GCS Revision: %1
" + "UAVO Hash: %2
" + "
" + "Built from %3
" + "Built on %4 at %5
" + "Based on Qt %6 (%7 bit)
" + "
" + "© %8, 2010-%9. All rights reserved.
" + "
" + "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.
" + "
" + "The program is provided AS IS with NO WARRANTY OF ANY KIND, " + "INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A " + "PARTICULAR PURPOSE." + ).arg( + QString::fromLatin1(GCS_REVISION_STR).left(60), // %1 + uavoHashStr, // %2 + QLatin1String(GCS_ORIGIN_STR), // $3 + QLatin1String(__DATE__), // %4 + QLatin1String(__TIME__), // %5 + QLatin1String(QT_VERSION_STR), // %6 + QString::number(QSysInfo::WordSize), // %7 + QLatin1String(GCS_AUTHOR), // %8 + QLatin1String(GCS_YEAR_STR) // %9 + ); + //Expose the version description to the QML doc + view->rootContext()->setContextProperty("version", description); + } diff --git a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc index 74579c457..09041270a 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc +++ b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc @@ -62,5 +62,9 @@ images/helpicon.svg images/cpu.png images/tx-rx.svg + qml/images/tab.png + qml/AboutDialog.qml + qml/FlickableWebView.qml + qml/TabWidget.qml diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro index 902241988..62ee7f5f7 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro +++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro @@ -1,11 +1,12 @@ TEMPLATE = lib TARGET = Core DEFINES += CORE_LIBRARY -QT += xml \ +QT += declarative \ + xml \ network \ script \ svg \ - sql + sql include(../../openpilotgcsplugin.pri) include(../../libs/utils/utils.pri) include(../../shared/scriptwrapper/scriptwrapper.pri) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro.user b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro.user new file mode 100644 index 000000000..0bdc53354 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro.user @@ -0,0 +1,564 @@ + + + + + + ProjectExplorer.Project.ActiveTarget + 0 + + + ProjectExplorer.Project.EditorSettings + + true + false + + Cpp + + CppGlobal + + + + QmlJS + + QmlJSGlobal + + + 2 + System + false + 4 + true + 1 + true + 0 + true + 0 + 8 + true + 1 + true + true + true + false + + + + ProjectExplorer.Project.PluginSettings + + + + ProjectExplorer.Project.Target.0 + + Desktop + Desktop + Qt4ProjectManager.Target.DesktopTarget + 0 + 0 + 0 + + ProjectExplorer.ToolChain.Gcc:/usr/bin/g++.x86-macos-generic-mach_o-64bit./usr/bin/gdb + + + qmake + + QtProjectManager.QMakeBuildStep + false + true + + false + + + Make + + Qt4ProjectManager.MakeStep + false + + + + 2 + Build + + ProjectExplorer.BuildSteps.Build + + + + Make + + Qt4ProjectManager.MakeStep + true + clean + + + 1 + Clean + + ProjectExplorer.BuildSteps.Clean + + 2 + false + + Qt 4.8.3 in PATH (System) Debug + + Qt4ProjectManager.Qt4BuildConfiguration + 2 + /Users/kevin/Documents/Source/OpenPilot-Private/ground/openpilotgcs/src/plugins/coreplugin-build-desktop-Qt_4_8_3_in_PATH__System__Debug + 7 + 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+ 8 + 9 + 10 + 11 + 12 + 13 + 14 + + + 0 + 1 + 2 + 3 + 4 + 5 + 6 + 7 + 8 + 9 + 10 + 11 + 12 + 13 + 14 + + + 2 + + false + + %{buildDir} + Custom Executable + + ProjectExplorer.CustomExecutableRunConfiguration + 3768 + true + false + false + + 1 + + + + ProjectExplorer.Project.TargetCount + 1 + + + ProjectExplorer.Project.Updater.EnvironmentId + {51e7adba-6ef9-490c-b046-228d3817bea8} + + + ProjectExplorer.Project.Updater.FileVersion + 10 + + diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp index 000156d70..f17b5f703 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp @@ -795,15 +795,15 @@ void MainWindow::registerDefaultActions() // About GCS Action #ifdef Q_WS_MAC - tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS"), this); // it's convention not to add dots to the about menu + // tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS"), this); // it's convention not to add dots to the about menu #else - tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS..."), this); + // tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS..."), this); #endif - cmd = am->registerAction(tmpaction, Constants::ABOUT_OPENPILOTGCS, m_globalContext); - mhelp->addAction(cmd, Constants::G_HELP_ABOUT); - tmpaction->setEnabled(true); + // cmd = am->registerAction(tmpaction, Constants::ABOUT_OPENPILOTGCS, m_globalContext); + // mhelp->addAction(cmd, Constants::G_HELP_ABOUT); + // tmpaction->setEnabled(true); #ifdef Q_WS_MAC - cmd->action()->setMenuRole(QAction::ApplicationSpecificRole); + // cmd->action()->setMenuRole(QAction::ApplicationSpecificRole); #endif connect(tmpaction, SIGNAL(triggered()), this, SLOT(aboutOpenPilotGCS())); @@ -818,7 +818,7 @@ void MainWindow::registerDefaultActions() connect(tmpaction, SIGNAL(triggered()), this, SLOT(aboutPlugins())); //Credits Action - tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &Authors..."), this); + tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &OpenPilot..."), this); cmd = am->registerAction(tmpaction, Constants::ABOUT_AUTHORS, m_globalContext); mhelp->addAction(cmd, Constants::G_HELP_ABOUT); tmpaction->setEnabled(true); diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml new file mode 100644 index 000000000..b7cf20ee8 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml @@ -0,0 +1,106 @@ + /**************************************************************************** + ** + ** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + ** All rights reserved. + ** Contact: Nokia Corporation (qt-info@nokia.com) + ** + ** This file is part of the examples of the Qt Toolkit. + ** + ** $QT_BEGIN_LICENSE:BSD$ + ** You may use this file under the terms of the BSD license as follows: + ** + ** "Redistribution and use in source and binary forms, with or without + ** modification, are permitted provided that the following conditions are + ** met: + ** * Redistributions of source code must retain the above copyright + ** notice, this list of conditions and the following disclaimer. + ** * Redistributions in binary form must reproduce the above copyright + ** notice, this list of conditions and the following disclaimer in + ** the documentation and/or other materials provided with the + ** distribution. + ** * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor + ** the names of its contributors may be used to endorse or promote + ** products derived from this software without specific prior written + ** permission. + ** + ** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + ** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + ** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + ** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT + ** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + ** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + ** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, + ** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY + ** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + ** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + ** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE." + ** $QT_END_LICENSE$ + ** + ****************************************************************************/ + + import QtQuick 1.1 + import QtWebKit 1.0 + + TabWidget { + id: tabs + width: 640; height: 480 + + Rectangle { + property string title: "OpenPilot GCS" + anchors.fill: parent + color: "#e3e3e3" + + Rectangle { + anchors.fill: parent; anchors.margins: 20 + color: "#e3e3e3" + Flickable { + anchors.fill: parent + anchors.centerIn: parent + Text { + id: versionLabel + width: parent.width - 20 + anchors.centerIn: parent; horizontalAlignment: Qt.AlignLeft + font.pixelSize: 12 + wrapMode: Text.WordWrap + text: version + } + } + } + } + + // Rectangle { + // property string title: "Plugins" + // anchors.fill: parent + // color: "#e3e3e3" + // + // Rectangle { + // anchors.fill: parent; anchors.margins: 20 + // color: "#7fff7f" + // Text { + // width: parent.width - 20 + // anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter + // text: "Flower stems are green" + // font.pixelSize: 20 + // wrapMode: Text.WordWrap + // } + // } + // } + + Rectangle { + property string title: "Authors" + anchors.fill: parent; color: "#e3e3e3" + + Rectangle { + anchors.fill: parent; anchors.margins: 20 + color: "#e3e3e3" + + FlickableWebView { + id: webView + url: "../CREDITS.html" + // onProgressChanged: header.urlChanged = false + anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom } + } + } + } + } + \ No newline at end of file diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml new file mode 100644 index 000000000..3043ce88a --- /dev/null +++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml @@ -0,0 +1,196 @@ +/**************************************************************************** +** +** Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). +** Contact: http://www.qt-project.org/ +** +** This file is part of the QtDeclarative module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** GNU Lesser General Public License Usage +** This file may be used under the terms of the GNU Lesser General Public +** License version 2.1 as published by the Free Software Foundation and +** appearing in the file LICENSE.LGPL included in the packaging of this +** file. Please review the following information to ensure the GNU Lesser +** General Public License version 2.1 requirements will be met: +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Nokia gives you certain additional +** rights. These rights are described in the Nokia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU General +** Public License version 3.0 as published by the Free Software Foundation +** and appearing in the file LICENSE.GPL included in the packaging of this +** file. Please review the following information to ensure the GNU General +** Public License version 3.0 requirements will be met: +** http://www.gnu.org/copyleft/gpl.html. +** +** Other Usage +** Alternatively, this file may be used in accordance with the terms and +** conditions contained in a signed written agreement between you and Nokia. +** +** +** +** +** +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +import QtQuick 1.0 +import QtWebKit 1.0 + +Flickable { + property alias title: webView.title + property alias icon: webView.icon + property alias progress: webView.progress + property alias url: webView.url + property alias back: webView.back + property alias stop: webView.stop + property alias reload: webView.reload + property alias forward: webView.forward + + id: flickable + width: parent.width + contentWidth: Math.max(parent.width,webView.width) + contentHeight: Math.max(parent.height,webView.height) + // anchors.top: headerSpace.bottom + anchors.bottom: parent.top + anchors.left: parent.left + anchors.right: parent.right + pressDelay: 200 + clip: true + + onWidthChanged : { + // Expand (but not above 1:1) if otherwise would be smaller that available width. + if (width > webView.width*webView.contentsScale && webView.contentsScale < 1.0) + webView.contentsScale = width / webView.width * webView.contentsScale; + } + + WebView { + id: webView + transformOrigin: Item.TopLeft + + function fixUrl(url) + { + if (url == "") return url + if (url[0] == "/") return "file://"+url + if (url.indexOf(":")<0) { + if (url.indexOf(".")<0 || url.indexOf(" ")>=0) { + // Fall back to a search engine; hard-code Wikipedia + return "http://en.wikipedia.org/w/index.php?search="+url + } else { + return "http://"+url + } + } + return url + } + + url: fixUrl(webBrowser.urlString) + smooth: false // We don't want smooth scaling, since we only scale during (fast) transitions + focus: true + + onAlert: console.log(message) + + function doZoom(zoom,centerX,centerY) + { + if (centerX) { + var sc = zoom*contentsScale; + scaleAnim.to = sc; + flickVX.from = flickable.contentX + flickVX.to = Math.max(0,Math.min(centerX-flickable.width/2,webView.width*sc-flickable.width)) + finalX.value = flickVX.to + flickVY.from = flickable.contentY + flickVY.to = Math.max(0,Math.min(centerY-flickable.height/2,webView.height*sc-flickable.height)) + finalY.value = flickVY.to + quickZoom.start() + } + } + + Keys.onLeftPressed: webView.contentsScale -= 0.1 + Keys.onRightPressed: webView.contentsScale += 0.1 + + preferredWidth: flickable.width + preferredHeight: flickable.height + contentsScale: 1 + onContentsSizeChanged: { + // zoom out + contentsScale = Math.min(1,flickable.width / contentsSize.width) + } + onUrlChanged: { + // got to topleft + flickable.contentX = 0 + flickable.contentY = 0 + // if (url != null) { header.editUrl = url.toString(); } + } + onDoubleClick: { + if (!heuristicZoom(clickX,clickY,2.5)) { + var zf = flickable.width / contentsSize.width + if (zf >= contentsScale) + zf = 2.0*contentsScale // zoom in (else zooming out) + doZoom(zf,clickX*zf,clickY*zf) + } + } + + SequentialAnimation { + id: quickZoom + + PropertyAction { + target: webView + property: "renderingEnabled" + value: false + } + ParallelAnimation { + NumberAnimation { + id: scaleAnim + target: webView + property: "contentsScale" + // the to property is set before calling + easing.type: Easing.Linear + duration: 200 + } + NumberAnimation { + id: flickVX + target: flickable + property: "contentX" + easing.type: Easing.Linear + duration: 200 + from: 0 // set before calling + to: 0 // set before calling + } + NumberAnimation { + id: flickVY + target: flickable + property: "contentY" + easing.type: Easing.Linear + duration: 200 + from: 0 // set before calling + to: 0 // set before calling + } + } + // Have to set the contentXY, since the above 2 + // size changes may have started a correction if + // contentsScale < 1.0. + PropertyAction { + id: finalX + target: flickable + property: "contentX" + value: 0 // set before calling + } + PropertyAction { + id: finalY + target: flickable + property: "contentY" + value: 0 // set before calling + } + PropertyAction { + target: webView + property: "renderingEnabled" + value: true + } + } + onZoomTo: doZoom(zoom,centerX,centerY) + } +} diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/TabWidget.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/TabWidget.qml new file mode 100644 index 000000000..b6ce6bd41 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/TabWidget.qml @@ -0,0 +1,102 @@ +/**************************************************************************** +** +** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). +** All rights reserved. +** Contact: Nokia Corporation (qt-info@nokia.com) +** +** This file is part of the examples of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:BSD$ +** You may use this file under the terms of the BSD license as follows: +** +** "Redistribution and use in source and binary forms, with or without +** modification, are permitted provided that the following conditions are +** met: +** * Redistributions of source code must retain the above copyright +** notice, this list of conditions and the following disclaimer. +** * Redistributions in binary form must reproduce the above copyright +** notice, this list of conditions and the following disclaimer in +** the documentation and/or other materials provided with the +** distribution. +** * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor +** the names of its contributors may be used to endorse or promote +** products derived from this software without specific prior written +** permission. +** +** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE." +** $QT_END_LICENSE$ +** +****************************************************************************/ + +import QtQuick 1.1 + +Item { + id: tabWidget + + // Setting the default property to stack.children means any child items + // of the TabWidget are actually added to the 'stack' item's children. + // See the "Property Binding" + // documentation for details on default properties. + default property alias content: stack.children + + property int current: 0 + + onCurrentChanged: setOpacities() + Component.onCompleted: setOpacities() + + function setOpacities() { + for (var i = 0; i < stack.children.length; ++i) { + stack.children[i].opacity = (i == current ? 1 : 0) + } + } + + Row { + id: header + + Repeater { + model: stack.children.length + delegate: Rectangle { + width: tabWidget.width / stack.children.length; height: 36 + + Rectangle { + width: parent.width; height: 1 + anchors { bottom: parent.bottom; bottomMargin: 1 } + color: "#acb2c2" + } + BorderImage { + anchors { fill: parent; leftMargin: 2; topMargin: 5; rightMargin: 1 } + border { left: 7; right: 7 } + source: "images/tab.png" + visible: tabWidget.current == index + } + Text { + horizontalAlignment: Qt.AlignHCenter; verticalAlignment: Qt.AlignVCenter + anchors.fill: parent + text: stack.children[index].title + elide: Text.ElideRight + font.bold: tabWidget.current == index + } + MouseArea { + anchors.fill: parent + onClicked: tabWidget.current = index + } + } + } + } + + Item { + id: stack + width: tabWidget.width + anchors.top: header.bottom; anchors.bottom: tabWidget.bottom + } +} \ No newline at end of file diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/images/tab.png b/ground/openpilotgcs/src/plugins/coreplugin/qml/images/tab.png new file mode 100644 index 0000000000000000000000000000000000000000..ad8021605fa37dcbb166e7a1b6681c451531ee8a GIT binary patch literal 507 zcmVPx#0%A)?L;(MXkIcUS000SaNLh0L01FcU01FcV0GgZ_00007bV*G`2igM#0xunX zk)P23001I%MObu0Z*6U5Zgc=ca%Ew3Wn>_CX>@2HM@dakAa8CUVIWOmV~41BLjV8) zQAtEWR4C7NlCe(1KoCUVuFpY%0wI9}9{>%4pWw@BsVPAM2`QA2ASKx6U5Y!~=frGj z&&8t~losM-cN@-niq88b?U;$p;JW5#-CCcp$RH8D~kwGbdc5 z@7xku58O174L7VX^oJuFl<7F27(2p-V|FMuS2oNM2@*$oBf&g6tc*gp$9~{RBKp0tGfOMdQvb)4i z;#K|<$buY{?Y)BJn39wCt14_%=wV)%RCELg-Jp=vTDqj*xq079p>$-7sFReF^bzc}rfIZsWCvmhAC x0;9ochfszPx!@6LykW%>!HQc%7MxO3^9RB*qNy5mp=SU9002ovPDHLkV1nx1%P{}| literal 0 HcmV?d00001 From 24068a66386f604d52c1fe7f2b2d671f25fc29ce Mon Sep 17 00:00:00 2001 From: Kevin Vertucio Date: Tue, 22 Jan 2013 14:05:02 -0500 Subject: [PATCH 05/39] set dialog windowFlags for a frameless window. Signed-off-by: Kevin Vertucio --- .../openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp | 6 +++--- .../src/plugins/coreplugin/qml/AboutDialog.qml | 8 +++++--- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp index 67b3c28f6..dcdb6970a 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp @@ -58,9 +58,9 @@ AuthorsDialog::AuthorsDialog(QWidget *parent) // We need to set the window icon explicitly here since for some reason the // application icon isn't used when the size of the dialog is fixed (at least not on X11/GNOME) - setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png")); - setWindowTitle(tr("About OpenPilot")); - setWindowFlags(windowFlags() & ~Qt::WindowContextHelpButtonHint); + // setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png")); + // setWindowTitle(tr("About OpenPilot")); + setWindowFlags(Qt::FramelessWindowHint | Qt::Dialog); //This loads a QML doc containing a Tabbed view QDeclarativeView *view = new QDeclarativeView(this); view->setSource(QUrl("qrc:/core/qml/AboutDialog.qml")); diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml index b7cf20ee8..a848fd9b7 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml +++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml @@ -41,10 +41,12 @@ import QtQuick 1.1 import QtWebKit 1.0 + // This is a tabbed pane element. Add a nested Rectangle to add a tab. + TabWidget { id: tabs width: 640; height: 480 - + // This tab is for the GCS version information Rectangle { property string title: "OpenPilot GCS" anchors.fill: parent @@ -67,7 +69,7 @@ } } } - +// This is a stub for the Plugins if I can ever figure that out. // Rectangle { // property string title: "Plugins" // anchors.fill: parent @@ -85,7 +87,7 @@ // } // } // } - +// This tab is for the authors/contributors/credits Rectangle { property string title: "Authors" anchors.fill: parent; color: "#e3e3e3" From 0cfed606380bdf83bb56ba9592abca7c4675a06a Mon Sep 17 00:00:00 2001 From: Kevin Vertucio Date: Thu, 24 Jan 2013 07:09:36 -0500 Subject: [PATCH 06/39] added OP Icon to About GCS Version tab Signed-off-by: Kevin Vertucio --- .../src/plugins/coreplugin/authorsdialog.cpp | 6 +- .../plugins/coreplugin/qml/AboutDialog.qml | 136 +++++++++--------- 2 files changed, 75 insertions(+), 67 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp index dcdb6970a..67b3c28f6 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp @@ -58,9 +58,9 @@ AuthorsDialog::AuthorsDialog(QWidget *parent) // We need to set the window icon explicitly here since for some reason the // application icon isn't used when the size of the dialog is fixed (at least not on X11/GNOME) - // setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png")); - // setWindowTitle(tr("About OpenPilot")); - setWindowFlags(Qt::FramelessWindowHint | Qt::Dialog); + setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png")); + setWindowTitle(tr("About OpenPilot")); + setWindowFlags(windowFlags() & ~Qt::WindowContextHelpButtonHint); //This loads a QML doc containing a Tabbed view QDeclarativeView *view = new QDeclarativeView(this); view->setSource(QUrl("qrc:/core/qml/AboutDialog.qml")); diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml index a848fd9b7..a6200ba73 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml +++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml @@ -41,68 +41,76 @@ import QtQuick 1.1 import QtWebKit 1.0 - // This is a tabbed pane element. Add a nested Rectangle to add a tab. - - TabWidget { - id: tabs - width: 640; height: 480 - // This tab is for the GCS version information - Rectangle { - property string title: "OpenPilot GCS" - anchors.fill: parent - color: "#e3e3e3" - - Rectangle { - anchors.fill: parent; anchors.margins: 20 - color: "#e3e3e3" - Flickable { - anchors.fill: parent - anchors.centerIn: parent - Text { - id: versionLabel - width: parent.width - 20 - anchors.centerIn: parent; horizontalAlignment: Qt.AlignLeft - font.pixelSize: 12 - wrapMode: Text.WordWrap - text: version - } - } - } - } -// This is a stub for the Plugins if I can ever figure that out. - // Rectangle { - // property string title: "Plugins" - // anchors.fill: parent - // color: "#e3e3e3" - // - // Rectangle { - // anchors.fill: parent; anchors.margins: 20 - // color: "#7fff7f" - // Text { - // width: parent.width - 20 - // anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter - // text: "Flower stems are green" - // font.pixelSize: 20 - // wrapMode: Text.WordWrap - // } - // } - // } -// This tab is for the authors/contributors/credits - Rectangle { - property string title: "Authors" - anchors.fill: parent; color: "#e3e3e3" - - Rectangle { - anchors.fill: parent; anchors.margins: 20 - color: "#e3e3e3" - - FlickableWebView { - id: webView - url: "../CREDITS.html" - // onProgressChanged: header.urlChanged = false - anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom } + // This is a tabbed pane element. Add a nested Rectangle to add a tab. + + TabWidget { + id: tabs + width: 640; height: 480 + // This tab is for the GCS version information + Rectangle { + property string title: "OpenPilot GCS" + anchors.fill: parent + color: "#e3e3e3" + + Rectangle { + anchors.fill: parent; anchors.margins: 20 + color: "#e3e3e3" + Image { + source: "../images/openpilot_logo_128.png" + x: 0; y: 0 + z: 100 + fillMode: Image.PreserveAspectFit + } + Flickable { + anchors.fill: parent + anchors.centerIn: parent + Text { + id: versionLabel + x: 156; y: 0 + width: 430; height: 379 + horizontalAlignment: Qt.AlignLeft + font.pixelSize: 12 + wrapMode: Text.WordWrap + text: version + } } - } - } - } - \ No newline at end of file + } + } + // This is a stub for the Plugins. + // Rectangle { + // property string title: "Plugins" + // anchors.fill: parent + // color: "#e3e3e3" + // + // Rectangle { + // anchors.fill: parent; anchors.margins: 20 + // color: "#7fff7f" + // Text { + // width: parent.width - 20 + // anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter + // text: "Flower stems are green" + // font.pixelSize: 20 + // wrapMode: Text.WordWrap + // } + // } + // } + // This tab is for the authors/contributors/credits + Rectangle { + property string title: "Authors" + anchors.fill: parent; color: "#e3e3e3" + + Rectangle { + anchors.fill: parent; anchors.margins: 20 + color: "#e3e3e3" + + FlickableWebView { + id: webView + z: 0 + url: "../CREDITS.html" + // onProgressChanged: header.urlChanged = false + anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom } + } + } + } + } + From bb999ae44f8a266dc30d59efb322c38c9e12896d Mon Sep 17 00:00:00 2001 From: Kevin Vertucio Date: Thu, 24 Jan 2013 08:04:55 -0500 Subject: [PATCH 07/39] cleanup formatting Signed-off-by: Kevin Vertucio --- .../plugins/coreplugin/qml/AboutDialog.qml | 39 +++++++++---------- 1 file changed, 18 insertions(+), 21 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml index a6200ba73..c8574c48b 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml +++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml @@ -65,13 +65,14 @@ anchors.fill: parent anchors.centerIn: parent Text { - id: versionLabel - x: 156; y: 0 - width: 430; height: 379 - horizontalAlignment: Qt.AlignLeft - font.pixelSize: 12 - wrapMode: Text.WordWrap - text: version + id: versionLabel + x: 156; y: 0 + width: 430; height: 379 + horizontalAlignment: Qt.AlignLeft + font.pixelSize: 12 + wrapMode: Text.WordWrap + // @var version exposed in authorsdialog.cpp + text: version } } } @@ -88,7 +89,6 @@ // Text { // width: parent.width - 20 // anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter - // text: "Flower stems are green" // font.pixelSize: 20 // wrapMode: Text.WordWrap // } @@ -96,19 +96,16 @@ // } // This tab is for the authors/contributors/credits Rectangle { - property string title: "Authors" - anchors.fill: parent; color: "#e3e3e3" - - Rectangle { - anchors.fill: parent; anchors.margins: 20 - color: "#e3e3e3" - - FlickableWebView { - id: webView - z: 0 - url: "../CREDITS.html" - // onProgressChanged: header.urlChanged = false - anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom } + property string title: "Authors" + anchors.fill: parent; color: "#e3e3e3" + Rectangle { + anchors.fill: parent; anchors.margins: 20 + color: "#e3e3e3" + FlickableWebView { + id: webView + z: 0 + url: "../CREDITS.html" + anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom } } } } From 813aaf5d852c73f8ea5fc9642b3baa6ae19fe800 Mon Sep 17 00:00:00 2001 From: filnet Date: Thu, 24 Jan 2013 03:53:24 +0100 Subject: [PATCH 08/39] OP-682 fixed two crashes on firmware uploader gadget. crash 1 : would happen when clicking Halt and then Boot as soon as the Boot button became enabled. crash 2 : would happen when clicking Boot and then quickly pressing then Open button. --- .../src/plugins/uploader/devicewidget.cpp | 2 ++ .../src/plugins/uploader/uploadergadgetwidget.cpp | 12 ++++++++---- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index e9d33e784..47433cebb 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -144,6 +144,8 @@ void deviceWidget::populate() void deviceWidget::freeze() { myDevice->description->setEnabled(false); + myDevice->pbLoad->setEnabled(false); + myDevice->youdont->setEnabled(false); myDevice->updateButton->setEnabled(false); myDevice->retrieveButton->setEnabled(false); } diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index d4ef26ba6..94507ac7b 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -398,7 +398,7 @@ void UploaderGadgetWidget::systemReset() delete dfu; dfu = NULL; } - m_config->textBrowser->clear(); + clearLog(); log("Board Reset initiated."); goToBootloader(); } @@ -470,8 +470,10 @@ void UploaderGadgetWidget::commonSystemBoot(bool safeboot) // Freeze the tabs, they are not useful anymore and their buttons // will cause segfaults or weird stuff if we use them. for (int i=0; i< m_config->systemElements->count(); i++) { - deviceWidget *qw = (deviceWidget*)m_config->systemElements->widget(i); - qw->freeze(); + deviceWidget *qw = dynamic_cast(m_config->systemElements->widget(i)); + if (qw) { + qw->freeze(); + } } } currentStep = IAP_STATE_READY; @@ -479,6 +481,7 @@ void UploaderGadgetWidget::commonSystemBoot(bool safeboot) delete dfu; // Frees up the USB/Serial port too dfu = NULL; } + bool UploaderGadgetWidget::autoUpdateCapable() { return QDir(":/build").exists(); @@ -766,9 +769,9 @@ void UploaderGadgetWidget::uploadEnded(bool succeed) */ void UploaderGadgetWidget::log(QString str) { + qDebug() << str; m_config->textBrowser->append(str); m_config->textBrowser->repaint(); - } void UploaderGadgetWidget::clearLog() @@ -815,6 +818,7 @@ void UploaderGadgetWidget::error(QString errorString, int errorNumber) msgBox.exec(); m_config->boardStatus->setText(errorString); } + /** Shows a message box with an information string. From e8659cf9d5af1b11d30fa48d1877816dac0a2729 Mon Sep 17 00:00:00 2001 From: filnet Date: Sat, 26 Jan 2013 15:10:30 +0100 Subject: [PATCH 09/39] OP-682 added some comments --- .../src/plugins/uploader/uploadergadgetwidget.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index 94507ac7b..4b258789b 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -470,8 +470,13 @@ void UploaderGadgetWidget::commonSystemBoot(bool safeboot) // Freeze the tabs, they are not useful anymore and their buttons // will cause segfaults or weird stuff if we use them. for (int i=0; i< m_config->systemElements->count(); i++) { + // OP-682 arriving here too "early" (before the devices are refreshed) was leading to a crash + // OP-682 the crash was due to an unchecked cast in the line below that would cast a RunningDeviceGadget to a DeviceGadget deviceWidget *qw = dynamic_cast(m_config->systemElements->widget(i)); if (qw) { + // OP-682 fixed a second crash by disabling *all* buttons in the device widget + // disabling the buttons is only half of the solution as even if the buttons are enabled + // the app should not crash qw->freeze(); } } From 3e9c81985001115536fbf2d4a55fbf1fc14c245d Mon Sep 17 00:00:00 2001 From: filnet Date: Mon, 28 Jan 2013 23:13:47 +0100 Subject: [PATCH 10/39] OP-803 more cleanups --- .../plugins/coreplugin/uavgadgetdecorator.cpp | 16 +++++++--------- .../coreplugin/uavgadgetinstancemanager.cpp | 13 +++++++++++-- .../uavgadgetmanager/uavgadgetview.cpp | 3 +++ 3 files changed, 21 insertions(+), 11 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp index 9857831c0..78a98a210 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp @@ -45,8 +45,6 @@ UAVGadgetDecorator::UAVGadgetDecorator(IUAVGadget *gadget, QListaddItem(config->name()); connect(m_toolbar, SIGNAL(activated(int)), this, SLOT(loadConfiguration(int))); -// if (m_configurations->count() > 0) -// loadConfiguration(0); updateToolbar(); } @@ -57,7 +55,7 @@ UAVGadgetDecorator::~UAVGadgetDecorator() } void UAVGadgetDecorator::loadConfiguration(int index) { - IUAVGadgetConfiguration* config = m_configurations->at(index); + IUAVGadgetConfiguration *config = m_configurations->at(index); loadConfiguration(config); } @@ -70,13 +68,13 @@ void UAVGadgetDecorator::loadConfiguration(IUAVGadgetConfiguration *config) } -void UAVGadgetDecorator::configurationChanged(IUAVGadgetConfiguration* config) +void UAVGadgetDecorator::configurationChanged(IUAVGadgetConfiguration *config) { if (config == m_activeConfiguration) loadConfiguration(config); } -void UAVGadgetDecorator::configurationAdded(IUAVGadgetConfiguration* config) +void UAVGadgetDecorator::configurationAdded(IUAVGadgetConfiguration *config) { if (config->classId() != classId()) return; @@ -85,7 +83,7 @@ void UAVGadgetDecorator::configurationAdded(IUAVGadgetConfiguration* config) updateToolbar(); } -void UAVGadgetDecorator::configurationToBeDeleted(IUAVGadgetConfiguration* config) +void UAVGadgetDecorator::configurationToBeDeleted(IUAVGadgetConfiguration *config) { if (config->classId() != classId()) return; @@ -97,7 +95,7 @@ void UAVGadgetDecorator::configurationToBeDeleted(IUAVGadgetConfiguration* confi updateToolbar(); } -void UAVGadgetDecorator::configurationNameChanged(IUAVGadgetConfiguration* config, QString oldName, QString newName) +void UAVGadgetDecorator::configurationNameChanged(IUAVGadgetConfiguration *config, QString oldName, QString newName) { if (config->classId() != classId()) return; @@ -112,14 +110,14 @@ void UAVGadgetDecorator::updateToolbar() m_toolbar->setEnabled(m_toolbar->count() > 1); } -void UAVGadgetDecorator::saveState(QSettings* qSettings) +void UAVGadgetDecorator::saveState(QSettings *qSettings) { if (m_activeConfiguration) { qSettings->setValue("activeConfiguration", m_activeConfiguration->name()); } } -void UAVGadgetDecorator::restoreState(QSettings* qSettings) +void UAVGadgetDecorator::restoreState(QSettings *qSettings) { QString configName = qSettings->value("activeConfiguration").toString(); foreach (IUAVGadgetConfiguration *config, *m_configurations) { diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp index 3393dc4b5..a20612c59 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp @@ -239,8 +239,9 @@ void UAVGadgetInstanceManager::createOptionsPages() m_pm->removeObject(m_optionsPages.takeLast()); } - foreach (IUAVGadgetConfiguration *config, m_configurations) - { + QMutableListIterator ite(m_configurations); + while (ite.hasNext()) { + IUAVGadgetConfiguration *config = ite.next(); IUAVGadgetFactory *f = factory(config->classId()); IOptionsPage *p = f->createOptionsPage(config); if (p) { @@ -249,6 +250,14 @@ void UAVGadgetInstanceManager::createOptionsPages() m_optionsPages.append(page); m_pm->addObject(page); } + else { + qWarning() + << "UAVGadgetInstanceManager::createOptionsPages - failed to create options page for configuration " + + config->classId() + ":" + config->name() + ", configuration will be removed."; + // The m_optionsPages list and m_configurations list must be in synch otherwise nasty issues happen later + // so if we fail to create an options page we must remove the associated configuration + ite.remove(); + } } } diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp index 3cf7a0387..5a380c576 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp @@ -230,6 +230,9 @@ void UAVGadgetView::updateToolBar() void UAVGadgetView::listSelectionActivated(int index) { + if (index < 0 || index >= m_uavGadgetList->count()) + index = m_defaultIndex; + QString classId = m_uavGadgetList->itemData(index).toString(); if (m_uavGadget && (m_uavGadget->classId() == classId)) return; From d03db9c6d1492b86cd8f9bee04c45d75ecf2079d Mon Sep 17 00:00:00 2001 From: filnet Date: Tue, 29 Jan 2013 23:12:55 +0100 Subject: [PATCH 11/39] OP-803 remove spurious commit --- .../plugins/coreplugin/uavgadgetinstancemanager.cpp | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp index a20612c59..3393dc4b5 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp @@ -239,9 +239,8 @@ void UAVGadgetInstanceManager::createOptionsPages() m_pm->removeObject(m_optionsPages.takeLast()); } - QMutableListIterator ite(m_configurations); - while (ite.hasNext()) { - IUAVGadgetConfiguration *config = ite.next(); + foreach (IUAVGadgetConfiguration *config, m_configurations) + { IUAVGadgetFactory *f = factory(config->classId()); IOptionsPage *p = f->createOptionsPage(config); if (p) { @@ -250,14 +249,6 @@ void UAVGadgetInstanceManager::createOptionsPages() m_optionsPages.append(page); m_pm->addObject(page); } - else { - qWarning() - << "UAVGadgetInstanceManager::createOptionsPages - failed to create options page for configuration " - + config->classId() + ":" + config->name() + ", configuration will be removed."; - // The m_optionsPages list and m_configurations list must be in synch otherwise nasty issues happen later - // so if we fail to create an options page we must remove the associated configuration - ite.remove(); - } } } From e27a07631e7a3615d5b83f328cebf9271f0767e8 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 17 Feb 2013 02:02:12 +0100 Subject: [PATCH 12/39] op-848 MPU6000 support user configurabe accel/gyro scales and filter bandwidth. board definitions can override any of this settings for special applications. Also include cleanup from "magic numbers" and fix for inverted ranges --- flight/CopterControl/Makefile | 1 + flight/CopterControl/System/pios_board.c | 6 +- flight/PiOS/Common/pios_mpu6000.c | 261 +++++++++++++----- flight/PiOS/inc/pios_mpu6000.h | 7 +- flight/RevoMini/System/pios_board.c | 6 +- flight/RevoMini/UAVObjects.inc | 2 +- flight/Revolution/System/pios_board.c | 6 +- flight/Revolution/UAVObjects.inc | 1 + .../src/plugins/uavobjects/uavobjects.pro | 6 +- .../uavobjectdefinition/mpu6000settings.xml | 38 +++ 10 files changed, 245 insertions(+), 89 deletions(-) create mode 100644 shared/uavobjectdefinition/mpu6000settings.xml diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 9b46bead1..dc20ea525 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -233,6 +233,7 @@ SRC += $(OPUAVSYNTHDIR)/ratedesired.c SRC += $(OPUAVSYNTHDIR)/baroaltitude.c SRC += $(OPUAVSYNTHDIR)/txpidsettings.c SRC += $(OPUAVSYNTHDIR)/airspeedactual.c +SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c endif diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 057767105..20f8e49a9 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -117,9 +117,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C, .Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK, - .accel_range = PIOS_MPU6000_ACCEL_8G, - .gyro_range = PIOS_MPU6000_SCALE_500_DEG, - .filter = PIOS_MPU6000_LOWPASS_256_HZ, + .accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS, + .gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS, + .filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS, .orientation = PIOS_MPU6000_TOP_180DEG }; #endif /* PIOS_INCLUDE_MPU6000 */ diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/Common/pios_mpu6000.c index f62d09859..78ba7415d 100644 --- a/flight/PiOS/Common/pios_mpu6000.c +++ b/flight/PiOS/Common/pios_mpu6000.c @@ -31,7 +31,7 @@ /* Project Includes */ #include "pios.h" - +#include "mpu6000settings.h" #if defined(PIOS_INCLUDE_MPU6000) #include "fifo_buffer.h" @@ -48,6 +48,8 @@ struct mpu6000_dev { uint32_t slave_num; xQueueHandle queue; const struct pios_mpu6000_cfg * cfg; + enum pios_mpu6000_range gyro_range; + enum pios_mpu6000_accel_range accel_range; enum pios_mpu6000_dev_magic magic; }; @@ -62,6 +64,10 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg); static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer); static int32_t PIOS_MPU6000_GetReg(uint8_t address); +static uint8_t getGyroRange(enum pios_mpu6000_range range); +static uint8_t getAccelRange(enum pios_mpu6000_accel_range accel); +static uint8_t getFilterSetting(enum pios_mpu6000_filter filter); + #define DEG_TO_RAD (M_PI / 180.0) #define GRAV 9.81f @@ -137,15 +143,24 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg) PIOS_MPU6000_Test(); + //initialize settings for acc/gyro Scale and filter + Mpu6000SettingsInitialize(); + // Reset chip - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, 0x80) != 0); + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0); PIOS_DELAY_WaitmS(300); // Reset chip and fifo - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, 0x80 | 0x01 | 0x02 | 0x04) != 0); + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, + PIOS_MPU6000_USERCTL_GYRO_RST | + PIOS_MPU6000_USERCTL_SIG_COND | + PIOS_MPU6000_USERCTL_FIFO_RST) != 0); // Wait for reset to finish - while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) & 0x07); + while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) & + (PIOS_MPU6000_USERCTL_GYRO_RST | + PIOS_MPU6000_USERCTL_SIG_COND | + PIOS_MPU6000_USERCTL_FIFO_RST)); //Power management configuration while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ; @@ -158,8 +173,9 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg) // FIFO storage #if defined(PIOS_MPU6000_ACCEL) - // Set the accel scale - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, cfg->accel_range) != 0); + // Set the accel range + dev->accel_range = getAccelRange(cfg->accel_range); + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, dev->accel_range) != 0); while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0); #else @@ -170,10 +186,13 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg) while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ; // Digital low-pass filter and scale - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, cfg->filter) != 0) ; + uint8_t filterSetting; + filterSetting = getFilterSetting(cfg->filter); + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0) ; - // Digital low-pass filter and scale - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, cfg->gyro_range) != 0) ; + // Gyro range + dev->gyro_range = getGyroRange(cfg->gyro_range); + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, dev->gyro_range) != 0) ; // Interrupt configuration while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ; @@ -322,13 +341,14 @@ xQueueHandle PIOS_MPU6000_GetQueue() float PIOS_MPU6000_GetScale() { - switch (dev->cfg->gyro_range) { + switch (dev->gyro_range) { case PIOS_MPU6000_SCALE_250_DEG: return 1.0f / 131.0f; case PIOS_MPU6000_SCALE_500_DEG: return 1.0f / 65.5f; case PIOS_MPU6000_SCALE_1000_DEG: return 1.0f / 32.8f; + case PIOS_MPU6000_SCALE_FROM_SETTINGS: case PIOS_MPU6000_SCALE_2000_DEG: return 1.0f / 16.4f; } @@ -337,12 +357,13 @@ float PIOS_MPU6000_GetScale() float PIOS_MPU6000_GetAccelScale() { - switch (dev->cfg->accel_range) { + switch (dev->accel_range) { case PIOS_MPU6000_ACCEL_2G: return GRAV / 16384.0f; case PIOS_MPU6000_ACCEL_4G: return GRAV / 8192.0f; case PIOS_MPU6000_ACCEL_8G: + case PIOS_MPU6000_ACCEL_FROM_SETTINGS: return GRAV / 4096.0f; case PIOS_MPU6000_ACCEL_16G: return GRAV / 2048.0f; @@ -411,20 +432,20 @@ bool PIOS_MPU6000_IRQHandler(void) mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval); timeval = PIOS_DELAY_GetRaw(); - if(!mpu6000_configured) + if (!mpu6000_configured) return false; mpu6000_count = PIOS_MPU6000_FifoDepth(); - if(mpu6000_count < sizeof(struct pios_mpu6000_data)) + if (mpu6000_count < sizeof(struct pios_mpu6000_data)) return false; - - if(PIOS_MPU6000_ClaimBus() != 0) + + if (PIOS_MPU6000_ClaimBus() != 0) 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)]; - - if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) { + + 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) ]; + + 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 false; @@ -437,85 +458,173 @@ bool PIOS_MPU6000_IRQHandler(void) // In the case where extras samples backed up grabbed an extra if (mpu6000_count >= (sizeof(data) * 2)) { mpu6000_fifo_backup++; - if(PIOS_MPU6000_ClaimBus() != 0) - return false; - - if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) { + if (PIOS_MPU6000_ClaimBus() != 0) + 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 false; } - + PIOS_MPU6000_ReleaseBus(); } - + // Rotate the sensor to OP convention. The datasheet defines X as towards the right // and Y as forward. OP convention transposes this. Also the Z is defined negatively // to our convention #if defined(PIOS_MPU6000_ACCEL) // Currently we only support rotations on top so switch X/Y accordingly - switch(dev->cfg->orientation) { - case PIOS_MPU6000_TOP_0DEG: - data.accel_y = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X - data.accel_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y - data.gyro_y = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X - data.gyro_x = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y - break; - case PIOS_MPU6000_TOP_90DEG: - data.accel_y = -(mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y - data.accel_x = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X - data.gyro_y = -(mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y - data.gyro_x = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X - break; - case PIOS_MPU6000_TOP_180DEG: - data.accel_y = -(mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X - data.accel_x = -(mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y - data.gyro_y = -(mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X - data.gyro_x = -(mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y - break; - case PIOS_MPU6000_TOP_270DEG: - data.accel_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y - data.accel_x = -(mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X - data.gyro_y = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y - data.gyro_x = -(mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X - break; + switch (dev->cfg->orientation) { + case PIOS_MPU6000_TOP_0DEG: + data.accel_y = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X + data.accel_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y + data.gyro_y = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X + data.gyro_x = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y + break; + case PIOS_MPU6000_TOP_90DEG: + // -1 to bring it back to -32768 +32767 range + data.accel_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y + data.accel_x = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X + data.gyro_y = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y + data.gyro_x = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X + break; + case PIOS_MPU6000_TOP_180DEG: + data.accel_y = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X + data.accel_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y + data.gyro_y = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X + data.gyro_x = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y + break; + case PIOS_MPU6000_TOP_270DEG: + data.accel_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y + data.accel_x = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X + data.gyro_y = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y + data.gyro_x = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X + break; } - data.gyro_z = -(mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]); - data.accel_z = -(mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); + data.gyro_z = -1 - (mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]); + data.accel_z = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); data.temperature = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]; #else data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; - switch(dev->cfg->orientation) { - case PIOS_MPU6000_TOP_0DEG: - data.gyro_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; - data.gyro_x = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; - break; - case PIOS_MPU6000_TOP_90DEG: - data.gyro_y = -(mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); // chip Y - data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip X - break; - case PIOS_MPU6000_TOP_180DEG: - data.gyro_y = -(mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); - data.gyro_x = -(mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); - break; - case PIOS_MPU6000_TOP_270DEG: - data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; // chip Y - data.gyro_x = -(mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip X - break; + switch (dev->cfg->orientation) { + case PIOS_MPU6000_TOP_0DEG: + data.gyro_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; + data.gyro_x = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; + break; + case PIOS_MPU6000_TOP_90DEG: + data.gyro_y = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); // chip Y + data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip X + break; + case PIOS_MPU6000_TOP_180DEG: + data.gyro_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); + data.gyro_x = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); + break; + case PIOS_MPU6000_TOP_270DEG: + data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; // chip Y + data.gyro_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip X + break; } - data.gyro_z = -(mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]); + data.gyro_z = -1 - (mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]); data.temperature = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; #endif - + portBASE_TYPE xHigherPriorityTaskWoken; xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken); - + mpu6000_irq++; - + mpu6000_time_us = PIOS_DELAY_DiffuS(timeval); - - return xHigherPriorityTaskWoken == pdTRUE; + + return xHigherPriorityTaskWoken == pdTRUE; +} + +/** + * @brief Return the gyro range setting based on config and/or mpu6000settings. + * \return the chosen gyro range + */ +static uint8_t getGyroRange(enum pios_mpu6000_range gyro) +{ + // if the setting is overridden by the board config then use the board value + if (gyro != PIOS_MPU6000_SCALE_FROM_SETTINGS) + return(uint8_t) gyro; + + uint8_t gyroSettings; + Mpu6000SettingsGyroScaleGet(&gyroSettings); + + switch (gyroSettings) { + case MPU6000SETTINGS_GYROSCALE_SCALE_250: + return PIOS_MPU6000_SCALE_250_DEG; + case MPU6000SETTINGS_GYROSCALE_SCALE_500: + return PIOS_MPU6000_SCALE_500_DEG; + case MPU6000SETTINGS_GYROSCALE_SCALE_1000: + return PIOS_MPU6000_SCALE_1000_DEG; + case MPU6000SETTINGS_GYROSCALE_SCALE_2000: + return PIOS_MPU6000_SCALE_2000_DEG; + default: + return PIOS_MPU6000_SCALE_2000_DEG; + } +} + +/** + * @brief Return the accel range setting based on config and/or mpu6000settings. + * \return the chosen accel range + */ +static uint8_t getAccelRange(enum pios_mpu6000_accel_range accel) +{ + // if the setting is overridden by the board config then use the board value + if (accel != PIOS_MPU6000_ACCEL_FROM_SETTINGS) + return (uint8_t) accel; + + uint8_t accelSetting; + Mpu6000SettingsAccelScaleGet(&accelSetting); + + switch (accelSetting) { + case MPU6000SETTINGS_ACCELSCALE_SCALE_2G: + return PIOS_MPU6000_ACCEL_2G; + case MPU6000SETTINGS_ACCELSCALE_SCALE_4G: + return PIOS_MPU6000_ACCEL_4G; + case MPU6000SETTINGS_ACCELSCALE_SCALE_8G: + return PIOS_MPU6000_ACCEL_8G; + case MPU6000SETTINGS_ACCELSCALE_SCALE_16G: + return PIOS_MPU6000_ACCEL_16G; + default: + return PIOS_MPU6000_ACCEL_8G; + } +} + +/** + * @brief Return the filter settings based on config and/or mpu6000settings. + * \return the chosen filter settings + */ +static uint8_t getFilterSetting(enum pios_mpu6000_filter filter) +{ + // if the setting is overridden by the board config then use the board value + if (filter != PIOS_MPU6000_LOWPASS_FROM_SETTINGS) + return(uint8_t) filter; + + uint8_t filterSetting; + Mpu6000SettingsFilterSettingGet(&filterSetting); + + switch (filterSetting) { + case MPU6000SETTINGS_FILTERSETTING_LOWPASS_256_HZ: + return PIOS_MPU6000_LOWPASS_256_HZ; + case MPU6000SETTINGS_FILTERSETTING_LOWPASS_188_HZ: + return PIOS_MPU6000_LOWPASS_188_HZ; + case MPU6000SETTINGS_FILTERSETTING_LOWPASS_98_HZ: + return PIOS_MPU6000_LOWPASS_98_HZ; + case MPU6000SETTINGS_FILTERSETTING_LOWPASS_42_HZ: + return PIOS_MPU6000_LOWPASS_42_HZ; + case MPU6000SETTINGS_FILTERSETTING_LOWPASS_20_HZ: + return PIOS_MPU6000_LOWPASS_20_HZ; + case MPU6000SETTINGS_FILTERSETTING_LOWPASS_10_HZ: + return PIOS_MPU6000_LOWPASS_10_HZ; + case MPU6000SETTINGS_FILTERSETTING_LOWPASS_5_HZ: + return PIOS_MPU6000_LOWPASS_5_HZ; + default: + return PIOS_MPU6000_LOWPASS_256_HZ; + } } #endif diff --git a/flight/PiOS/inc/pios_mpu6000.h b/flight/PiOS/inc/pios_mpu6000.h index 254f10192..88233e645 100644 --- a/flight/PiOS/inc/pios_mpu6000.h +++ b/flight/PiOS/inc/pios_mpu6000.h @@ -87,8 +87,10 @@ /* User control functionality */ #define PIOS_MPU6000_USERCTL_FIFO_EN 0X40 +#define PIOS_MPU6000_USERCTL_I2C_MST_EN 0x20 #define PIOS_MPU6000_USERCTL_DIS_I2C 0X10 -#define PIOS_MPU6000_USERCTL_FIFO_RST 0X02 +#define PIOS_MPU6000_USERCTL_FIFO_RST 0X04 +#define PIOS_MPU6000_USERCTL_SIG_COND 0X02 #define PIOS_MPU6000_USERCTL_GYRO_RST 0X01 /* Power management and clock selection */ @@ -100,6 +102,7 @@ #define PIOS_MPU6000_PWRMGMT_STOP_CLK 0X07 enum pios_mpu6000_range { + PIOS_MPU6000_SCALE_FROM_SETTINGS = 0xFF, PIOS_MPU6000_SCALE_250_DEG = 0x00, PIOS_MPU6000_SCALE_500_DEG = 0x08, PIOS_MPU6000_SCALE_1000_DEG = 0x10, @@ -107,6 +110,7 @@ enum pios_mpu6000_range { }; enum pios_mpu6000_filter { + PIOS_MPU6000_LOWPASS_FROM_SETTINGS = 0xFF, PIOS_MPU6000_LOWPASS_256_HZ = 0x00, PIOS_MPU6000_LOWPASS_188_HZ = 0x01, PIOS_MPU6000_LOWPASS_98_HZ = 0x02, @@ -117,6 +121,7 @@ enum pios_mpu6000_filter { }; enum pios_mpu6000_accel_range { + PIOS_MPU6000_ACCEL_FROM_SETTINGS = 0xFF, PIOS_MPU6000_ACCEL_2G = 0x00, PIOS_MPU6000_ACCEL_4G = 0x08, PIOS_MPU6000_ACCEL_8G = 0x10, diff --git a/flight/RevoMini/System/pios_board.c b/flight/RevoMini/System/pios_board.c index 6f772acdf..1e2bfae7a 100644 --- a/flight/RevoMini/System/pios_board.c +++ b/flight/RevoMini/System/pios_board.c @@ -181,9 +181,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C, .Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK, - .accel_range = PIOS_MPU6000_ACCEL_8G, - .gyro_range = PIOS_MPU6000_SCALE_500_DEG, - .filter = PIOS_MPU6000_LOWPASS_256_HZ, + .accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS, + .gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS, + .filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS, .orientation = PIOS_MPU6000_TOP_180DEG }; #endif /* PIOS_INCLUDE_MPU6000 */ diff --git a/flight/RevoMini/UAVObjects.inc b/flight/RevoMini/UAVObjects.inc index d07660a8f..6165f3d67 100644 --- a/flight/RevoMini/UAVObjects.inc +++ b/flight/RevoMini/UAVObjects.inc @@ -94,7 +94,7 @@ UAVOBJSRCFILENAMES += altitudeholdsettings UAVOBJSRCFILENAMES += altitudeholddesired UAVOBJSRCFILENAMES += waypoint UAVOBJSRCFILENAMES += waypointactive - +UAVOBJSRCFILENAMES += mpu6000settings UAVOBJSRCFILENAMES += txpidsettings UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c ) diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c index 37c9810b3..85281b0c5 100644 --- a/flight/Revolution/System/pios_board.c +++ b/flight/Revolution/System/pios_board.c @@ -222,9 +222,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C, .Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK, - .accel_range = PIOS_MPU6000_ACCEL_8G, - .gyro_range = PIOS_MPU6000_SCALE_500_DEG, - .filter = PIOS_MPU6000_LOWPASS_256_HZ, + .accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS, + .gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS, + .filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS, .orientation = PIOS_MPU6000_TOP_0DEG }; #endif /* PIOS_INCLUDE_MPU6000 */ diff --git a/flight/Revolution/UAVObjects.inc b/flight/Revolution/UAVObjects.inc index 545f6ecc7..8202dc1b2 100644 --- a/flight/Revolution/UAVObjects.inc +++ b/flight/Revolution/UAVObjects.inc @@ -94,6 +94,7 @@ UAVOBJSRCFILENAMES += altitudeholdsettings UAVOBJSRCFILENAMES += altitudeholddesired UAVOBJSRCFILENAMES += waypoint UAVOBJSRCFILENAMES += waypointactive +UAVOBJSRCFILENAMES += mpu6000settings UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro index d0aeeed1b..5b61364fc 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro @@ -99,7 +99,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \ $$UAVOBJECT_SYNTHETICS/oplinkstatus.h \ $$UAVOBJECT_SYNTHETICS/osdsettings.h \ $$UAVOBJECT_SYNTHETICS/waypoint.h \ - $$UAVOBJECT_SYNTHETICS/waypointactive.h + $$UAVOBJECT_SYNTHETICS/waypointactive.h \ + $$UAVOBJECT_SYNTHETICS/mpu6000settings.h SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \ @@ -178,4 +179,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/oplinkstatus.cpp \ $$UAVOBJECT_SYNTHETICS/osdsettings.cpp \ $$UAVOBJECT_SYNTHETICS/waypoint.cpp \ - $$UAVOBJECT_SYNTHETICS/waypointactive.cpp + $$UAVOBJECT_SYNTHETICS/waypointactive.cpp \ + $$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp diff --git a/shared/uavobjectdefinition/mpu6000settings.xml b/shared/uavobjectdefinition/mpu6000settings.xml new file mode 100644 index 000000000..7f07a87b9 --- /dev/null +++ b/shared/uavobjectdefinition/mpu6000settings.xml @@ -0,0 +1,38 @@ + + + Settings for the @ref MPU6000 sensor used on CC3D and Revolution + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 3986f93e681ad18dffb4dddd04c2011664911e1a Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 17 Feb 2013 12:16:24 +0100 Subject: [PATCH 13/39] op-848 Splitted sample rate divider configuration for dlp and non_dlp settings (1kHz vs 8kHz sample rate). Minor clean up, used constants in place of some hardcoded values --- flight/CopterControl/System/pios_board.c | 4 +- flight/PiOS/Common/pios_mpu6000.c | 54 ++++++++++++------------ flight/PiOS/inc/pios_mpu6000.h | 7 ++- flight/RevoMini/System/pios_board.c | 6 ++- flight/Revolution/System/pios_board.c | 6 ++- 5 files changed, 44 insertions(+), 33 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 20f8e49a9..210d109b5 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -112,7 +112,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .exti_cfg = &pios_exti_mpu6000_cfg, .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, // Clock at 8 khz, downsampled by 16 for 500 Hz - .Smpl_rate_div = 15, + .Smpl_rate_div_no_dlp = 15, + // Clock at 1 khz, downsampled by 2 for 500 Hz + .Smpl_rate_div_dlp = 1, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C, diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/Common/pios_mpu6000.c index 78ba7415d..5ba47685a 100644 --- a/flight/PiOS/Common/pios_mpu6000.c +++ b/flight/PiOS/Common/pios_mpu6000.c @@ -136,64 +136,66 @@ int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios * @brief Initialize the MPU6000 3-axis gyro sensor * \return none * \param[in] PIOS_MPU6000_ConfigTypeDef struct to be used to configure sensor. -* -*/ + * + */ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg) { PIOS_MPU6000_Test(); - + //initialize settings for acc/gyro Scale and filter Mpu6000SettingsInitialize(); - + // Reset chip while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0); PIOS_DELAY_WaitmS(300); - + // Reset chip and fifo - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, - PIOS_MPU6000_USERCTL_GYRO_RST | - PIOS_MPU6000_USERCTL_SIG_COND | + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, + PIOS_MPU6000_USERCTL_GYRO_RST | + PIOS_MPU6000_USERCTL_SIG_COND | PIOS_MPU6000_USERCTL_FIFO_RST) != 0); - + // Wait for reset to finish - while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) & - (PIOS_MPU6000_USERCTL_GYRO_RST | - PIOS_MPU6000_USERCTL_SIG_COND | + while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) & + (PIOS_MPU6000_USERCTL_GYRO_RST | + PIOS_MPU6000_USERCTL_SIG_COND | PIOS_MPU6000_USERCTL_FIFO_RST)); - + //Power management configuration - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ; + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0); // Interrupt configuration - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0) ; + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0); // Interrupt configuration - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0) ; + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0); // FIFO storage #if defined(PIOS_MPU6000_ACCEL) // Set the accel range dev->accel_range = getAccelRange(cfg->accel_range); while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, dev->accel_range) != 0); - + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0); #else while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0); #endif - - // Sample rate divider - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ; - - // Digital low-pass filter and scale + // Digital low-pass filter uint8_t filterSetting; filterSetting = getFilterSetting(cfg->filter); - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0) ; - + + // Sample rate divider, chosen upon digital filtering settings + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, + filterSetting == PIOS_MPU6000_LOWPASS_256_HZ ? + cfg->Smpl_rate_div_no_dlp : cfg->Smpl_rate_div_dlp) != 0); + + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0); + // Gyro range dev->gyro_range = getGyroRange(cfg->gyro_range); - while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, dev->gyro_range) != 0) ; - + while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, dev->gyro_range) != 0); + // Interrupt configuration while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ; diff --git a/flight/PiOS/inc/pios_mpu6000.h b/flight/PiOS/inc/pios_mpu6000.h index 88233e645..6d92ada51 100644 --- a/flight/PiOS/inc/pios_mpu6000.h +++ b/flight/PiOS/inc/pios_mpu6000.h @@ -151,8 +151,11 @@ struct pios_mpu6000_cfg { const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */ uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */ - uint8_t Smpl_rate_div; /* Sample rate divider to use (See datasheet page 32 for more details) */ - uint8_t interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */ + + /* Sample rate divider to use (See datasheet page 32 for more details).*/ + uint8_t Smpl_rate_div_no_dlp; /* used when no dlp is applied (fs=8KHz)*/ + uint8_t Smpl_rate_div_dlp; /* used when dlp is on (fs=1kHz)*/ + uint8_t interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */ uint8_t interrupt_en; /* Interrupt configuration (See datasheet page 35 for more details) */ uint8_t User_ctl; /* User control settings (See datasheet page 41 for more details) */ uint8_t Pwr_mgmt_clk; /* Power management and clock selection (See datasheet page 32 for more details) */ diff --git a/flight/RevoMini/System/pios_board.c b/flight/RevoMini/System/pios_board.c index 1e2bfae7a..68aec9ff8 100644 --- a/flight/RevoMini/System/pios_board.c +++ b/flight/RevoMini/System/pios_board.c @@ -175,8 +175,10 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = { static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .exti_cfg = &pios_exti_mpu6000_cfg, .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, - // Clock at 8 khz, downsampled by 8 for 1khz - .Smpl_rate_div = 11, + // Clock at 8 khz, downsampled by 12 for 666Hz + .Smpl_rate_div_no_dlp = 11, + // with dlp on output rate is 500Hz + .Smpl_rate_div_dlp = 1, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C, diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c index 85281b0c5..45a9a08f8 100644 --- a/flight/Revolution/System/pios_board.c +++ b/flight/Revolution/System/pios_board.c @@ -216,8 +216,10 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = { static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .exti_cfg = &pios_exti_mpu6000_cfg, .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, - // Clock at 8 khz, downsampled by 8 for 1khz - .Smpl_rate_div = 11, + // Clock at 8 khz, downsampled by 12 for 666Hz + .Smpl_rate_div_no_dlp = 11, + // with dlp on output rate is 500Hz + .Smpl_rate_div_dlp = 1, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C, From 81d056d0d5785e7b48a04ac24288908051c476f5 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 17 Feb 2013 12:32:44 +0100 Subject: [PATCH 14/39] OP-848 Added a note for the user on uavo tooltip to remember that it need board reboot for the setting to takes effect --- shared/uavobjectdefinition/mpu6000settings.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/shared/uavobjectdefinition/mpu6000settings.xml b/shared/uavobjectdefinition/mpu6000settings.xml index 7f07a87b9..943243fa7 100644 --- a/shared/uavobjectdefinition/mpu6000settings.xml +++ b/shared/uavobjectdefinition/mpu6000settings.xml @@ -1,6 +1,6 @@ - Settings for the @ref MPU6000 sensor used on CC3D and Revolution + Settings for the @ref MPU6000 sensor used on CC3D and Revolution. Reboot the board for this to takes effect From d1c5da6c24fe3d8720bd968d0c301040ee910f10 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 17 Feb 2013 22:28:41 +0100 Subject: [PATCH 15/39] Move PyMite makefile entries to Libraries/PyMyte/pymite.mk to simplify boards makefile. --- flight/Libraries/PyMite/pymite.mk | 41 +++++++++++++++++++++++++++++++ flight/RevoMini/Makefile | 38 ++-------------------------- flight/Revolution/Makefile | 34 ++----------------------- flight/SimPosix/Makefile | 35 ++------------------------ 4 files changed, 47 insertions(+), 101 deletions(-) create mode 100644 flight/Libraries/PyMite/pymite.mk diff --git a/flight/Libraries/PyMite/pymite.mk b/flight/Libraries/PyMite/pymite.mk new file mode 100644 index 000000000..02da15a5d --- /dev/null +++ b/flight/Libraries/PyMite/pymite.mk @@ -0,0 +1,41 @@ +# +# Rules to add PYMite to a PiOS target +# + +PYMITE = $(FLIGHTLIB)/PyMite +PYMITELIB = $(PYMITE)/lib +PYMITEPLAT = $(PYMITE)/platform/openpilot +PYMITETOOLS = $(PYMITE)/tools +PYMITEVM = $(PYMITE)/vm +PYMITEINC = $(PYMITEVM) +PYMITEINC += $(PYMITEPLAT) +PYMITEINC += $(OUTDIR) + +# List C source files here. (C dependencies are automatically generated.) +# use file-extension c for "c-only"-files + +## PyMite files and modules +SRC += $(OUTDIR)/pmlib_img.c +SRC += $(OUTDIR)/pmlib_nat.c +SRC += $(OUTDIR)/pmlibusr_img.c +SRC += $(OUTDIR)/pmlibusr_nat.c +PYSRC += $(wildcard ${PYMITEVM}/*.c) +PYSRC += $(wildcard ${PYMITEPLAT}/*.c) +PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} +SRC += $(PYSRC) + +EXTRAINCDIRS += $(PYMITEINC) + +# Generate intermediate code +gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h + +$(PYSRC): gencode + +PYTHON = python + +# Generate code for PyMite +${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) + @echo $(MSG_PYMITEINIT) $(call toprel, $@) + @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) + @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h + @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py diff --git a/flight/RevoMini/Makefile b/flight/RevoMini/Makefile index 9ebf3f116..f2b97d08e 100644 --- a/flight/RevoMini/Makefile +++ b/flight/RevoMini/Makefile @@ -94,14 +94,6 @@ STMSPDSRCDIR = $(STMSPDDIR)/src STMSPDINCDIR = $(STMSPDDIR)/inc OPUAVOBJ = ../UAVObjects OPUAVOBJINC = $(OPUAVOBJ)/inc -PYMITE = $(FLIGHTLIB)/PyMite -PYMITELIB = $(PYMITE)/lib -PYMITEPLAT = $(PYMITE)/platform/openpilot -PYMITETOOLS = $(PYMITE)/tools -PYMITEVM = $(PYMITE)/vm -PYMITEINC = $(PYMITEVM) -PYMITEINC += $(PYMITEPLAT) -PYMITEINC += $(OUTDIR) FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans HWDEFSINC = ../board_hw_defs/$(BOARD_NAME) @@ -113,19 +105,8 @@ include $(PIOSCOMMONLIB)/FreeRTOS/library.mk #include $(PIOSCOMMONLIB)/dosfs/library.mk include $(PIOSCOMMONLIB)/msheap/library.mk - -# List C source files here. (C dependencies are automatically generated.) -# use file-extension c for "c-only"-files - -## PyMite files and modules -SRC += $(OUTDIR)/pmlib_img.c -SRC += $(OUTDIR)/pmlib_nat.c -SRC += $(OUTDIR)/pmlibusr_img.c -SRC += $(OUTDIR)/pmlibusr_nat.c -PYSRC += $(wildcard ${PYMITEVM}/*.c) -PYSRC += $(wildcard ${PYMITEPLAT}/*.c) -PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} -SRC += $(PYSRC) +## PYMite support +#include $(FLIGHTLIB)/PyMite/pymite.mk ## MODULES SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} @@ -234,22 +215,8 @@ EXTRAINCDIRS += $(STMSPDINCDIR) EXTRAINCDIRS += $(CMSISDIR) EXTRAINCDIRS += $(OPUAVSYNTHDIR) EXTRAINCDIRS += $(BOOTINC) -EXTRAINCDIRS += $(PYMITEINC) EXTRAINCDIRS += $(HWDEFSINC) -# Generate intermediate code -gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h - -$(PYSRC): gencode - -PYTHON = python - -# Generate code for PyMite -${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) - @echo $(MSG_PYMITEINIT) $(call toprel, $@) - @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) - @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h - @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc # List any extra directories to look for library files here. @@ -390,7 +357,6 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP)) # Define programs and commands. REMOVE = $(REMOVE_CMD) -f -PYTHON = python # List of all source files. ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile index 67d7d04c6..c6f373086 100644 --- a/flight/Revolution/Makefile +++ b/flight/Revolution/Makefile @@ -117,14 +117,6 @@ OPUAVOBJ = ../UAVObjects OPUAVOBJINC = $(OPUAVOBJ)/inc BOOT = ../Bootloaders/INS BOOTINC = $(BOOT)/inc -PYMITE = $(FLIGHTLIB)/PyMite -PYMITELIB = $(PYMITE)/lib -PYMITEPLAT = $(PYMITE)/platform/openpilot -PYMITETOOLS = $(PYMITE)/tools -PYMITEVM = $(PYMITE)/vm -PYMITEINC = $(PYMITEVM) -PYMITEINC += $(PYMITEPLAT) -PYMITEINC += $(OUTDIR) FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans HWDEFSINC = ../board_hw_defs/$(BOARD_NAME) @@ -136,20 +128,12 @@ include $(PIOSCOMMONLIB)/FreeRTOS/library.mk #include $(PIOSCOMMONLIB)/dosfs/library.mk include $(PIOSCOMMONLIB)/msheap/library.mk +## PYMite support +#include $(FLIGHTLIB)/PyMite/pymite.mk # List C source files here. (C dependencies are automatically generated.) # use file-extension c for "c-only"-files -## PyMite files and modules -SRC += $(OUTDIR)/pmlib_img.c -SRC += $(OUTDIR)/pmlib_nat.c -SRC += $(OUTDIR)/pmlibusr_img.c -SRC += $(OUTDIR)/pmlibusr_nat.c -PYSRC += $(wildcard ${PYMITEVM}/*.c) -PYSRC += $(wildcard ${PYMITEPLAT}/*.c) -PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} -SRC += $(PYSRC) - ## MODULES SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} @@ -249,22 +233,8 @@ EXTRAINCDIRS += $(STMSPDINCDIR) EXTRAINCDIRS += $(CMSISDIR) EXTRAINCDIRS += $(OPUAVSYNTHDIR) EXTRAINCDIRS += $(BOOTINC) -EXTRAINCDIRS += $(PYMITEINC) EXTRAINCDIRS += $(HWDEFSINC) -# Generate intermediate code -gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h - -$(PYSRC): gencode - -PYTHON = python - -# Generate code for PyMite -${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) - @echo $(MSG_PYMITEINIT) $(call toprel, $@) - @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) - @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h - @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc # List any extra directories to look for library files here. diff --git a/flight/SimPosix/Makefile b/flight/SimPosix/Makefile index 82c814c92..e2e7b777c 100644 --- a/flight/SimPosix/Makefile +++ b/flight/SimPosix/Makefile @@ -85,14 +85,6 @@ OPUAVOBJ = ../UAVObjects OPUAVOBJINC = $(OPUAVOBJ)/inc BOOT = BOOTINC = -PYMITE = $(FLIGHTLIB)/PyMite -PYMITELIB = $(PYMITE)/lib -PYMITEPLAT = $(PYMITE)/platform/openpilot -PYMITETOOLS = $(PYMITE)/tools -PYMITEVM = $(PYMITE)/vm -PYMITEINC = $(PYMITEVM) -PYMITEINC += $(PYMITEPLAT) -PYMITEINC += $(OUTDIR) FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans HWDEFSINC = ../board_hw_defs/$(BOARD_NAME) @@ -104,20 +96,12 @@ include $(PIOSCOMMONLIB)/FreeRTOS/library.mk #include $(PIOSCOMMONLIB)/dosfs/library.mk #include $(PIOSCOMMONLIB)/msheap/library.mk +## PYMite support +#include $(FLIGHTLIB)/PyMite/pymite.mk # List C source files here. (C dependencies are automatically generated.) # use file-extension c for "c-only"-files -## PyMite files and modules -SRC += $(OUTDIR)/pmlib_img.c -SRC += $(OUTDIR)/pmlib_nat.c -SRC += $(OUTDIR)/pmlibusr_img.c -SRC += $(OUTDIR)/pmlibusr_nat.c -PYSRC += $(wildcard ${PYMITEVM}/*.c) -PYSRC += $(wildcard ${PYMITEPLAT}/*.c) -PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} -SRC += $(PYSRC) - ## MODULES SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} SRC += ${OUTDIR}/InitMods.c @@ -207,22 +191,8 @@ EXTRAINCDIRS += $(PIOSBOARDS) EXTRAINCDIRS += $(CMSISDIR) EXTRAINCDIRS += $(OPUAVSYNTHDIR) EXTRAINCDIRS += $(BOOTINC) -EXTRAINCDIRS += $(PYMITEINC) EXTRAINCDIRS += $(HWDEFSINC) -# Generate intermediate code -gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h - -$(PYSRC): gencode - -PYTHON = python - -# Generate code for PyMite -${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) - @echo $(MSG_PYMITEINIT) $(call toprel, $@) - @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) - @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h - @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc # List any extra directories to look for library files here. @@ -366,7 +336,6 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP)) # Define programs and commands. REMOVE = $(REMOVE_CMD) -f -PYTHON = python # List of all source files. ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) From adc9c008c48a3334667b187919fea2b73cfa6432 Mon Sep 17 00:00:00 2001 From: Philippe Renon Date: Mon, 18 Feb 2013 22:28:09 +0100 Subject: [PATCH 16/39] iOP-803 redid spurious commit in order to avoid undoing OP-805 (need to be more carefull or sleep more...) --- .../plugins/coreplugin/uavgadgetinstancemanager.cpp | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp index 3393dc4b5..a20612c59 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp @@ -239,8 +239,9 @@ void UAVGadgetInstanceManager::createOptionsPages() m_pm->removeObject(m_optionsPages.takeLast()); } - foreach (IUAVGadgetConfiguration *config, m_configurations) - { + QMutableListIterator ite(m_configurations); + while (ite.hasNext()) { + IUAVGadgetConfiguration *config = ite.next(); IUAVGadgetFactory *f = factory(config->classId()); IOptionsPage *p = f->createOptionsPage(config); if (p) { @@ -249,6 +250,14 @@ void UAVGadgetInstanceManager::createOptionsPages() m_optionsPages.append(page); m_pm->addObject(page); } + else { + qWarning() + << "UAVGadgetInstanceManager::createOptionsPages - failed to create options page for configuration " + + config->classId() + ":" + config->name() + ", configuration will be removed."; + // The m_optionsPages list and m_configurations list must be in synch otherwise nasty issues happen later + // so if we fail to create an options page we must remove the associated configuration + ite.remove(); + } } } From a48395c7a03be756373ea854a649f5985ac6b914 Mon Sep 17 00:00:00 2001 From: a*morale Date: Thu, 21 Jun 2012 01:57:26 +0200 Subject: [PATCH 17/39] Added the visualization of the error in BU the error is shown as a number of slow flashes followed by 10 fast flashes. The number of slow flashes indicate the error code: 1 - Self overwrite check failed; 2 - Board hardware revision mismatch; 3 - Flash erase failed; 4 - Flash programming failed; The error code sequence will be shown indfinitely should a error occurs. --- flight/Bootloaders/BootloaderUpdater/main.c | 37 ++++++++++++++------- 1 file changed, 25 insertions(+), 12 deletions(-) diff --git a/flight/Bootloaders/BootloaderUpdater/main.c b/flight/Bootloaders/BootloaderUpdater/main.c index b7348dac4..d1fbc1666 100644 --- a/flight/Bootloaders/BootloaderUpdater/main.c +++ b/flight/Bootloaders/BootloaderUpdater/main.c @@ -34,7 +34,7 @@ /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); extern void FLASH_Download(); -void error(int); +void error(int,int); /* The ADDRESSES of the _binary_* symbols are the important * data. This is non-intuitive for _binary_size where you @@ -58,7 +58,7 @@ int main() { /// Self overwrite check uint32_t base_address = SCB->VTOR; if ((0x08000000 + embedded_image_size) > base_address) - error(PIOS_LED_HEARTBEAT); + error(PIOS_LED_HEARTBEAT,1); /// /* @@ -80,7 +80,7 @@ int main() { if ((pios_board_info_blob.magic != new_board_info_blob->magic) || (pios_board_info_blob.board_type != new_board_info_blob->board_type) || (pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) { - error(PIOS_LED_HEARTBEAT); + error(PIOS_LED_HEARTBEAT,2); } /* Embedded bootloader looks like it's the right one for this HW, proceed... */ @@ -108,7 +108,7 @@ int main() { } if (fail == true) - error(PIOS_LED_HEARTBEAT); + error(PIOS_LED_HEARTBEAT,3); /// @@ -124,7 +124,7 @@ int main() { } } if (result == false) - error(PIOS_LED_HEARTBEAT); + error(PIOS_LED_HEARTBEAT,4); } /// for (uint8_t x = 0; x < 3; ++x) { @@ -145,11 +145,24 @@ int main() { } -void error(int led) { - for (;;) { - PIOS_LED_On(led); - PIOS_DELAY_WaitmS(500); - PIOS_LED_Off(led); - PIOS_DELAY_WaitmS(500); +void error(int led,int code) { + for(;;) + { + PIOS_DELAY_WaitmS(1000); + for (int x=0;x Date: Thu, 21 Feb 2013 01:34:17 +0100 Subject: [PATCH 18/39] OP-682 OP-850 fixed more uploader gadget crashes and button state issues --- .../src/plugins/uploader/devicewidget.cpp | 117 ++++++++++++------ .../src/plugins/uploader/devicewidget.h | 3 + .../plugins/uploader/uploadergadgetwidget.cpp | 31 +++++ .../plugins/uploader/uploadergadgetwidget.h | 3 +- 4 files changed, 113 insertions(+), 41 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index 47433cebb..86504824f 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -143,11 +143,28 @@ void deviceWidget::populate() */ void deviceWidget::freeze() { - myDevice->description->setEnabled(false); - myDevice->pbLoad->setEnabled(false); - myDevice->youdont->setEnabled(false); - myDevice->updateButton->setEnabled(false); - myDevice->retrieveButton->setEnabled(false); + updateButtons(false); +} + +void deviceWidget::updateButtons(bool enabled) +{ + if (!enabled) { + myDevice->description->setEnabled(false); + myDevice->pbLoad->setEnabled(false); + myDevice->youdont->setEnabled(false); + myDevice->updateButton->setEnabled(false); + myDevice->retrieveButton->setEnabled(false); + } + else { + myDevice->description->setEnabled(true); + // Load button (i.e. chose file) is always enabled + myDevice->pbLoad->setEnabled(true); + myDevice->youdont->setEnabled(true); + // Update/Upload button is enabled if a file has be selected and the "You know what your doing" check box is checked + myDevice->updateButton->setEnabled(myDevice->youdont->isVisible() && myDevice->youdont->checkState() == Qt::Checked); + // Retreive/Download button is always enabled + myDevice->retrieveButton->setEnabled(true); + } } /** @@ -224,12 +241,7 @@ void deviceWidget::dfuStatus(QString str) void deviceWidget::confirmCB(int value) { - if(value==Qt::Checked) - { - myDevice->updateButton->setEnabled(true); - } - else - myDevice->updateButton->setEnabled(false); + updateButtons(true); } /** @@ -325,8 +337,6 @@ void deviceWidget::loadFirmware() myDevice->groupCustom->setVisible(true); } myDevice->statusIcon->setPixmap(px); - //myDevice->updateButton->setEnabled(true); - } /** @@ -334,10 +344,14 @@ void deviceWidget::loadFirmware() */ void deviceWidget::uploadFirmware() { - myDevice->updateButton->setEnabled(false); + // clear progress bar now + // this avoids displaying an error message and the progress at 100% at the same time + setProgress(0); + updateButtons(false); + if (!m_dfu->devices[deviceID].Writable) { status("Device not writable!", STATUSICON_FAIL); - myDevice->updateButton->setEnabled(true); + updateButtons(true); return; } @@ -361,7 +375,7 @@ void deviceWidget::uploadFirmware() // These firmwares are designed to be backwards compatible } else if (firmwareBoard != board) { status("Error: firmware does not match board", STATUSICON_FAIL); - myDevice->updateButton->setEnabled(true); + updateButtons(true); return; } // Check the firmware embedded in the file: @@ -369,7 +383,7 @@ void deviceWidget::uploadFirmware() QByteArray fileHash = QCryptographicHash::hash(loadedFW.left(loadedFW.length()-100), QCryptographicHash::Sha1); if (firmwareHash != fileHash) { status("Error: firmware file corrupt", STATUSICON_FAIL); - myDevice->updateButton->setEnabled(true); + updateButtons(true); return; } } else { @@ -378,16 +392,16 @@ void deviceWidget::uploadFirmware() descriptionArray.clear(); } - status("Starting firmware upload", STATUSICON_RUNNING); + emit uploadStarted(); + // We don't know which device was used previously, so we // are cautious and reenter DFU for this deviceID: - emit uploadStarted(); if(!m_dfu->enterDFU(deviceID)) { - status("Error:Could not enter DFU mode", STATUSICON_FAIL); - myDevice->updateButton->setEnabled(true); emit uploadEnded(false); + status("Error:Could not enter DFU mode", STATUSICON_FAIL); + updateButtons(true); return; } OP_DFU::Status ret=m_dfu->StatusRequest(); @@ -397,13 +411,14 @@ void deviceWidget::uploadFirmware() connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int))); connect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(dfuStatus(QString))); connect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status))); - bool retstatus = m_dfu->UploadFirmware(filename,verify, deviceID); - if(!retstatus ) { - status("Could not start upload", STATUSICON_FAIL); - myDevice->updateButton->setEnabled(true); + bool retstatus = m_dfu->UploadFirmware(filename, verify, deviceID); + if (!retstatus) { emit uploadEnded(false); + status("Could not start upload!", STATUSICON_FAIL); + updateButtons(true); return; } + status("Uploading, please wait...", STATUSICON_RUNNING); } @@ -412,29 +427,43 @@ void deviceWidget::uploadFirmware() */ void deviceWidget::downloadFirmware() { + // clear progress bar now + // this avoids displaying an error message and the progress at 100% at the same time + setProgress(0); + updateButtons(false); + if (!m_dfu->devices[deviceID].Readable) { myDevice->statusLabel->setText(QString("Device not readable!")); + status("Device not readable!", STATUSICON_FAIL); + updateButtons(true); return; } - myDevice->retrieveButton->setEnabled(false); filename = setSaveFileName(); - if (filename.isEmpty()) { status("Empty filename", STATUSICON_FAIL); + updateButtons(true); return; } - status("Downloading firmware from device", STATUSICON_RUNNING); + status("Starting firmware download", STATUSICON_RUNNING); + emit downloadStarted(); + connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int))); connect(m_dfu, SIGNAL(downloadFinished()), this, SLOT(downloadFinished())); + downloadedFirmware.clear(); // Empty the byte array bool ret = m_dfu->DownloadFirmware(&downloadedFirmware,deviceID); - if(!ret) { + + if (!ret) { + emit downloadEnded(false); status("Could not start download!", STATUSICON_FAIL); + updateButtons(true); return; } - status("Download started, please wait", STATUSICON_RUNNING); + + status("Downloading, please wait...", STATUSICON_RUNNING); + return; } /** @@ -444,10 +473,13 @@ void deviceWidget::downloadFinished() { disconnect(m_dfu, SIGNAL(downloadFinished()), this, SLOT(downloadFinished())); disconnect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int))); - status("Download successful", STATUSICON_OK); + // Now save the result (use the utility function from OP_DFU) m_dfu->SaveByteArrayToFile(filename, downloadedFirmware); - myDevice->retrieveButton->setEnabled(true); + + emit downloadEnded(true); + status("Download successful", STATUSICON_OK); + updateButtons(true); } /** @@ -455,13 +487,14 @@ void deviceWidget::downloadFinished() */ void deviceWidget::uploadFinished(OP_DFU::Status retstatus) { - myDevice->updateButton->setEnabled(true); disconnect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status))); disconnect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int))); disconnect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(dfuStatus(QString))); - if(retstatus != OP_DFU::Last_operation_Success) { - status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); + + if (retstatus != OP_DFU::Last_operation_Success) { emit uploadEnded(false); + status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); + updateButtons(true); return; } else if (!descriptionArray.isEmpty()) { @@ -469,9 +502,10 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus) status(QString("Updating description"), STATUSICON_RUNNING); repaint(); // Make sure the text above shows right away retstatus = m_dfu->UploadDescription(descriptionArray); - if( retstatus != OP_DFU::Last_operation_Success) { - status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); + if (retstatus != OP_DFU::Last_operation_Success) { emit uploadEnded(false); + status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); + updateButtons(true); return; } @@ -480,16 +514,19 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus) status(QString("Updating description"), STATUSICON_RUNNING); repaint(); // Make sure the text above shows right away retstatus = m_dfu->UploadDescription(myDevice->description->text()); - if( retstatus != OP_DFU::Last_operation_Success) { - status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); + if (retstatus != OP_DFU::Last_operation_Success) { emit uploadEnded(false); + status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); + updateButtons(true); return; } } + populate(); + emit uploadEnded(true); status("Upload successful", STATUSICON_OK); - + updateButtons(true); } /** diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h index eaf8c6a0f..2c47cbfa2 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h @@ -71,10 +71,13 @@ private: void status(QString str, StatusIcon ic); bool populateBoardStructuredDescription(QByteArray arr); bool populateLoadedStructuredDescription(QByteArray arr); + void updateButtons(bool enabled); signals: void uploadStarted(); void uploadEnded(bool success); + void downloadStarted(); + void downloadEnded(bool success); public slots: void uploadFirmware(); void loadFirmware(); diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index 4b258789b..1b6ae9f6b 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -120,6 +120,8 @@ void UploaderGadgetWidget::connectSignalSlot(QWidget *widget) { connect(qobject_cast(widget),SIGNAL(uploadStarted()),this,SLOT(uploadStarted())); connect(qobject_cast(widget),SIGNAL(uploadEnded(bool)),this,SLOT(uploadEnded(bool))); + connect(qobject_cast(widget),SIGNAL(downloadStarted()),this,SLOT(downloadStarted())); + connect(qobject_cast(widget),SIGNAL(downloadEnded(bool)),this,SLOT(downloadEnded(bool))); } FlightStatus *UploaderGadgetWidget::getFlightStatus() @@ -758,15 +760,44 @@ void UploaderGadgetWidget::cancel() void UploaderGadgetWidget::uploadStarted() { + m_config->haltButton->setEnabled(false); m_config->bootButton->setEnabled(false); m_config->safeBootButton->setEnabled(false); + m_config->resetButton->setEnabled(false); + m_config->rescueButton->setEnabled(false); } void UploaderGadgetWidget::uploadEnded(bool succeed) { Q_UNUSED(succeed); + // device is halted so no halt + m_config->haltButton->setEnabled(false); m_config->bootButton->setEnabled(true); m_config->safeBootButton->setEnabled(true); + // device is halted so no reset + m_config->resetButton->setEnabled(false); + m_config->rescueButton->setEnabled(true); +} + +void UploaderGadgetWidget::downloadStarted() +{ + m_config->haltButton->setEnabled(false); + m_config->bootButton->setEnabled(false); + m_config->safeBootButton->setEnabled(false); + m_config->resetButton->setEnabled(false); + m_config->rescueButton->setEnabled(false); +} + +void UploaderGadgetWidget::downloadEnded(bool succeed) +{ + Q_UNUSED(succeed); + // device is halted so no halt + m_config->haltButton->setEnabled(false); + m_config->bootButton->setEnabled(true); + m_config->safeBootButton->setEnabled(true); + // device is halted so no reset + m_config->resetButton->setEnabled(false); + m_config->rescueButton->setEnabled(true); } /** diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h index 9f4702e2f..3e3b0f504 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h @@ -115,7 +115,8 @@ private slots: void cancel(); void uploadStarted(); void uploadEnded(bool succeed); - + void downloadStarted(); + void downloadEnded(bool succeed); }; #endif // UPLOADERGADGETWIDGET_H From e710f3bb9167350a219648d50eb5d959a9099c39 Mon Sep 17 00:00:00 2001 From: Fredrik Arvidsson Date: Tue, 26 Feb 2013 07:37:14 +0100 Subject: [PATCH 19/39] OP-856 Basic renaming from PRO to Revolution --- .../src/plugins/config/config.pro | 12 ++++---- .../src/plugins/config/configgadgetwidget.cpp | 30 +++++++++---------- ...o_hw_widget.cpp => configrevohwwidget.cpp} | 20 ++++++------- ...g_pro_hw_widget.h => configrevohwwidget.h} | 20 ++++++------- ...o_hw_settings.ui => configrevohwwidget.ui} | 6 ++-- 5 files changed, 44 insertions(+), 44 deletions(-) rename ground/openpilotgcs/src/plugins/config/{config_pro_hw_widget.cpp => configrevohwwidget.cpp} (70%) rename ground/openpilotgcs/src/plugins/config/{config_pro_hw_widget.h => configrevohwwidget.h} (78%) rename ground/openpilotgcs/src/plugins/config/{pro_hw_settings.ui => configrevohwwidget.ui} (95%) diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro index 0bb6cdbcc..223ad0a13 100644 --- a/ground/openpilotgcs/src/plugins/config/config.pro +++ b/ground/openpilotgcs/src/plugins/config/config.pro @@ -17,7 +17,6 @@ HEADERS += configplugin.h \ configinputwidget.h \ configoutputwidget.h \ configvehicletypewidget.h \ - config_pro_hw_widget.h \ config_cc_hw_widget.h \ configccattitudewidget.h \ configpipxtremewidget.h \ @@ -39,7 +38,8 @@ HEADERS += configplugin.h \ config_global.h \ mixercurve.h \ dblspindelegate.h \ - configautotunewidget.h + configautotunewidget.h \ + configrevohwwidget.h SOURCES += configplugin.cpp \ configgadgetconfiguration.cpp \ configgadgetwidget.cpp \ @@ -50,7 +50,6 @@ SOURCES += configplugin.cpp \ configinputwidget.cpp \ configoutputwidget.cpp \ configvehicletypewidget.cpp \ - config_pro_hw_widget.cpp \ config_cc_hw_widget.cpp \ configccattitudewidget.cpp \ configstabilizationwidget.cpp \ @@ -73,10 +72,10 @@ SOURCES += configplugin.cpp \ cfg_vehicletypes/vehicleconfig.cpp \ mixercurve.cpp \ dblspindelegate.cpp \ - configautotunewidget.cpp + configautotunewidget.cpp \ + configrevohwwidget.cpp FORMS += airframe.ui \ cc_hw_settings.ui \ - pro_hw_settings.ui \ ccpm.ui \ stabilization.ui \ input.ui \ @@ -91,7 +90,8 @@ FORMS += airframe.ui \ txpid.ui \ pipxtreme.ui \ mixercurve.ui \ - autotune.ui + autotune.ui \ + configrevohwwidget.ui RESOURCES += configgadget.qrc diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp index 6aea1ce17..61c63e794 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp @@ -35,7 +35,7 @@ #include "configautotunewidget.h" #include "configcamerastabilizationwidget.h" #include "configtxpidwidget.h" -#include "config_pro_hw_widget.h" +#include "configrevohwwidget.h" #include "config_cc_hw_widget.h" #include "configpipxtremewidget.h" #include "configrevowidget.h" @@ -136,7 +136,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent) } help = 0; - connect(ftw,SIGNAL(currentAboutToShow(int,bool*)),this,SLOT(tabAboutToChange(int,bool*)));//,Qt::BlockingQueuedConnection); + connect(ftw,SIGNAL(currentAboutToShow(int,bool*)), this, SLOT(tabAboutToChange(int,bool*))); // Connect to the PipXStatus object updates UAVObjectManager *objManager = pm->getObject(); @@ -173,20 +173,21 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *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->removeTab(ConfigGadgetWidget::sensors); 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->removeTab(ConfigGadgetWidget::hardware); ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware")); + ftw->setCurrentIndex(ConfigGadgetWidget::hardware); emit autopilotDisconnected(); @@ -203,40 +204,39 @@ void ConfigGadgetWidget::onAutopilotConnect() { int board = utilMngr->getBoardModel(); if ((board & 0xff00) == 1024) { // CopterControl family - // 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, *icon, QString("INS")); - ftw->removeTab(ConfigGadgetWidget::hardware); + ftw->removeTab(ConfigGadgetWidget::sensors); + ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("CopterControl")); 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->removeTab(ConfigGadgetWidget::hardware); ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware")); + ftw->setCurrentIndex(ConfigGadgetWidget::hardware); } else if ((board & 0xff00) == 0x0900) { - // Revolution sensor calibration - ftw->setCurrentIndex(ConfigGadgetWidget::hardware); - ftw->removeTab(ConfigGadgetWidget::sensors); + // Revolution family 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, *icon, QString("Revo")); - ftw->removeTab(ConfigGadgetWidget::hardware); + ftw->removeTab(ConfigGadgetWidget::sensors); + ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Revolution")); 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); + qwd = new ConfigRevoHWWidget(this); + ftw->removeTab(ConfigGadgetWidget::hardware); ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware")); + ftw->setCurrentIndex(ConfigGadgetWidget::hardware); } else { //Unknown board diff --git a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp similarity index 70% rename from ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp rename to ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp index 0f050cbc2..f1abd4b62 100644 --- a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp @@ -1,13 +1,13 @@ /** ****************************************************************************** * - * @file configtelemetrywidget.h + * @file configrevohwwidget.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin * @{ - * @brief The Configuration Gadget used to update settings in the firmware + * @brief Revolution hardware configuration panel *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify @@ -24,7 +24,7 @@ * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#include "config_pro_hw_widget.h" +#include "configrevohwwidget.h" #include #include @@ -34,19 +34,19 @@ #include -ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent) +ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(parent) { - m_telemetry = new Ui_PRO_HW_Widget(); - m_telemetry->setupUi(this); + m_ui = new Ui_RevoHWWidget(); + m_ui->setupUi(this); - addApplySaveButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD); - addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed); + addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD); + addUAVObjectToWidgetRelation("HwSettings", "TelemetrySpeed", m_ui->telemetrySpeed); enableControls(false); populateWidgets(); refreshWidgetsValues(NULL); } -ConfigProHWWidget::~ConfigProHWWidget() +ConfigRevoHWWidget::~ConfigRevoHWWidget() { // Do nothing } @@ -55,6 +55,6 @@ ConfigProHWWidget::~ConfigProHWWidget() /** Request telemetry settings from the board */ -void ConfigProHWWidget::refreshValues() +void ConfigRevoHWWidget::refreshValues() { } diff --git a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.h b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h similarity index 78% rename from ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.h rename to ground/openpilotgcs/src/plugins/config/configrevohwwidget.h index 021e19aaf..84aa3c075 100644 --- a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h @@ -1,13 +1,13 @@ /** ****************************************************************************** * - * @file configtelemetrytwidget.h + * @file configrevohwwidget.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin * @{ - * @brief Telemetry configuration panel + * @brief Revolution hardware configuration panel *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify @@ -24,10 +24,10 @@ * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#ifndef CONFIGPROHWWIDGET_H -#define CONFIGPROHWWIDGET_H +#ifndef CONFIGREVOHWWIDGET_H +#define CONFIGREVOHWWIDGET_H -#include "ui_pro_hw_settings.h" +#include "ui_configrevohwwidget.h" #include "../uavobjectwidgetutils/configtaskwidget.h" #include "extensionsystem/pluginmanager.h" #include "uavobjectmanager.h" @@ -36,20 +36,20 @@ #include -class ConfigProHWWidget: public ConfigTaskWidget +class ConfigRevoHWWidget: public ConfigTaskWidget { Q_OBJECT public: - ConfigProHWWidget(QWidget *parent = 0); - ~ConfigProHWWidget(); + ConfigRevoHWWidget(QWidget *parent = 0); + ~ConfigRevoHWWidget(); private: - Ui_PRO_HW_Widget *m_telemetry; + Ui_RevoHWWidget *m_ui; private slots: virtual void refreshValues(); }; -#endif // CONFIGPROHWWIDGET_H +#endif // CONFIGREVOHWWIDGET_H diff --git a/ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui similarity index 95% rename from ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui rename to ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui index 4c782357c..e8cc05dd1 100644 --- a/ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui +++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui @@ -1,7 +1,7 @@ - PRO_HW_Widget - + RevoHWWidget + 0 @@ -29,7 +29,7 @@ <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;"> +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.</span></p> <p style="-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:'Sans'; font-size:10pt;"><br /></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</span></p></body></html> From de026a13fc5b92569a5191b8f8bb6d6ef221ba66 Mon Sep 17 00:00:00 2001 From: Fredrik Arvidsson Date: Thu, 28 Feb 2013 08:13:21 +0100 Subject: [PATCH 20/39] OP-856 Basic implementation of hardware settings page. --- .../src/plugins/config/configgadget.qrc | 1 + .../src/plugins/config/configgadgetwidget.cpp | 2 +- .../src/plugins/config/configrevohwwidget.cpp | 137 ++- .../src/plugins/config/configrevohwwidget.h | 8 + .../src/plugins/config/configrevohwwidget.ui | 890 ++++++++++++++++-- .../plugins/config/images/revolution_top.png | Bin 0 -> 157186 bytes 6 files changed, 926 insertions(+), 112 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/images/revolution_top.png diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index ff81d79fb..a5b006745 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -30,5 +30,6 @@ images/camstab_normal.png images/pipx-selected.png images/pipx-normal.png + images/revolution_top.png diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp index 61c63e794..a0fc602b8 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp @@ -232,7 +232,7 @@ void ConfigGadgetWidget::onAutopilotConnect() { 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); + icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off); qwd = new ConfigRevoHWWidget(this); ftw->removeTab(ConfigGadgetWidget::hardware); ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware")); diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp index f1abd4b62..532dc3b48 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp @@ -27,11 +27,9 @@ #include "configrevohwwidget.h" #include -#include -#include -#include -#include -#include +#include +#include +#include "hwsettings.h" ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(parent) @@ -39,18 +37,139 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren m_ui = new Ui_RevoHWWidget(); m_ui->setupUi(this); + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + Core::Internal::GeneralSettings *settings = pm->getObject(); + if(!settings->useExpertMode()) { + m_ui->saveTelemetryToRAM->setEnabled(false); + m_ui->saveTelemetryToRAM->setVisible(false); + } + addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD); - addUAVObjectToWidgetRelation("HwSettings", "TelemetrySpeed", m_ui->telemetrySpeed); - enableControls(false); + addUAVObjectToWidgetRelation("HwSettings","RM_FlexiPort",m_ui->cbFlexi); + addUAVObjectToWidgetRelation("HwSettings","RM_MainPort",m_ui->cbMain); + addUAVObjectToWidgetRelation("HwSettings","RM_RcvrPort",m_ui->cbRcvr); + + addUAVObjectToWidgetRelation("HwSettings","USB_HIDPort",m_ui->cbUSBHIDFunction); + addUAVObjectToWidgetRelation("HwSettings","USB_VCPPort",m_ui->cbUSBVCPFunction); + addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_ui->cbUSBVCPSpeed); + + addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_ui->cbFlexiTelemSpeed); + addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_ui->cbFlexiGPSSpeed); + addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_ui->cbFlexiComSpeed); + + addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_ui->cbMainTelemSpeed); + addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_ui->cbMainGPSSpeed); + addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_ui->cbMainComSpeed); + + addUAVObjectToWidgetRelation("HwSettings","RadioPort",m_ui->cbModem); + setupCustomCombos(); + enableControls(true); populateWidgets(); - refreshWidgetsValues(NULL); + refreshWidgetsValues(); + forceConnectedState(); } ConfigRevoHWWidget::~ConfigRevoHWWidget() { - // Do nothing + // Do nothing } +void ConfigRevoHWWidget::setupCustomCombos() +{ + m_ui->cbUSBType->addItem(tr("HID"), USB_HID); + m_ui->cbUSBType->addItem(tr("VCP"), USB_VCP); + connect(m_ui->cbUSBType, SIGNAL(currentIndexChanged(int)), this, SLOT(usbTypeChanged(int))); + + m_ui->cbSonar->addItem(tr("Disabled")); + m_ui->cbSonar->setCurrentIndex(0); + m_ui->cbSonar->setEnabled(false); + + connect(m_ui->cbFlexi, SIGNAL(currentIndexChanged(int)), this, SLOT(flexiPortChanged(int))); + connect(m_ui->cbMain, SIGNAL(currentIndexChanged(int)), this, SLOT(mainPortChanged(int))); + +} + +void ConfigRevoHWWidget::refreshWidgetsValues(UAVObject *obj) +{ + ConfigTaskWidget::refreshWidgetsValues(obj); + HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager()); + HwSettings::DataFields data = hwSettings->getData(); + if(data.USB_HIDPort != HwSettings::USB_HIDPORT_DISABLED){ + m_ui->cbUSBType->setCurrentIndex(m_ui->cbUSBType->findData(USB_HID)); + } + else { + m_ui->cbUSBType->setCurrentIndex(m_ui->cbUSBType->findData(USB_VCP)); + } + usbTypeChanged(m_ui->cbUSBType->currentIndex()); + mainPortChanged(0); + flexiPortChanged(0); +} + +void ConfigRevoHWWidget::usbTypeChanged(int index) +{ + Q_UNUSED(index); + + bool hid = m_ui->cbUSBType->itemData(m_ui->cbUSBType->currentIndex()) == USB_HID; + m_ui->cbUSBHIDFunction->setVisible(hid); + m_ui->cbUSBVCPFunction->setVisible(!hid); + + m_ui->lblUSBVCPSpeed->setVisible(!hid); + m_ui->cbUSBVCPSpeed->setVisible(!hid); +} + +void ConfigRevoHWWidget::flexiPortChanged(int index) +{ + Q_UNUSED(index); + + m_ui->cbFlexiTelemSpeed->setVisible(false); + m_ui->cbFlexiGPSSpeed->setVisible(false); + m_ui->cbFlexiComSpeed->setVisible(false); + m_ui->lblFlexiSpeed->setVisible(true); + + int value = m_ui->cbFlexi->currentIndex(); + switch(value) + { + case HwSettings::RM_FLEXIPORT_TELEMETRY: + m_ui->cbFlexiTelemSpeed->setVisible(true); + break; + case HwSettings::RM_FLEXIPORT_GPS: + m_ui->cbFlexiGPSSpeed->setVisible(true); + break; + case HwSettings::RM_FLEXIPORT_COMBRIDGE: + m_ui->cbFlexiComSpeed->setVisible(true); + break; + default: + m_ui->lblFlexiSpeed->setVisible(false); + break; + } +} + +void ConfigRevoHWWidget::mainPortChanged(int index) +{ + Q_UNUSED(index); + + m_ui->cbMainTelemSpeed->setVisible(false); + m_ui->cbMainGPSSpeed->setVisible(false); + m_ui->cbMainComSpeed->setVisible(false); + m_ui->lblMainSpeed->setVisible(true); + + int value = m_ui->cbMain->currentIndex(); + switch(value) + { + case HwSettings::RM_FLEXIPORT_TELEMETRY: + m_ui->cbMainTelemSpeed->setVisible(true); + break; + case HwSettings::RM_FLEXIPORT_GPS: + m_ui->cbMainGPSSpeed->setVisible(true); + break; + case HwSettings::RM_FLEXIPORT_COMBRIDGE: + m_ui->cbMainComSpeed->setVisible(true); + break; + default: + m_ui->lblMainSpeed->setVisible(false); + break; + } +} /** Request telemetry settings from the board diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h index 84aa3c075..7e4bd4c16 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h @@ -45,10 +45,18 @@ public: ~ConfigRevoHWWidget(); private: + enum {USB_HID, USB_VCP}; Ui_RevoHWWidget *m_ui; + void setupCustomCombos(); + +protected slots: + void refreshWidgetsValues(UAVObject * obj = NULL); private slots: virtual void refreshValues(); + void usbTypeChanged(int index); + void flexiPortChanged(int index); + void mainPortChanged(int index); }; diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui index e8cc05dd1..6814108c9 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui +++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui @@ -6,8 +6,8 @@ 0 0 - 505 - 389 + 834 + 742 @@ -15,112 +15,798 @@ - - - QFrame::StyledPanel + + + 0 - - QFrame::Raised - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.</span></p> -<p style="-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:'Sans'; font-size:10pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</span></p></body></html> - - - - - - - - - - 11 - 75 - true - - - - Telemetry speed: + + + HW settings + + + + 0 + + + + + + + + + + 255 + 255 + 255 + + + + + + + 232 + 232 + 232 + + + + + + + + + 255 + 255 + 255 + + + + + + + 232 + 232 + 232 + + + + + + + + + 232 + 232 + 232 + + + + + + + 232 + 232 + 232 + + + + + + + + QFrame::NoFrame + + + QFrame::Plain + + + true + + + + + 0 + 0 + 806 + 654 + + + + 12 + + + + + Qt::Vertical + + + + 20 + 25 + + + + + + + + + 0 + 0 + + + + + 500 + 0 + + + + + 500 + 16777215 + + + + + 75 + true + + + + Changes on this page only take effect after board reset or power cycle + + + Qt::AlignCenter + + + true + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 20 + 10 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 120 + 10 + + + + + + + + Sonar Port + + + Qt::AlignCenter + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 50 + 10 + + + + + + + + + 0 + 0 + + + + Function + + + Qt::AlignBottom|Qt::AlignHCenter + + + + + + + Main Port + + + Qt::AlignBottom|Qt::AlignHCenter + + + + + + + + + + + 0 + 0 + + + + Receiver Port + + + Qt::AlignBottom|Qt::AlignHCenter + + + + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 20 + 25 + + + + + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 20 + 120 + + + + + + + + + 0 + 0 + + + + + 350 + 350 + + + + + + + :/configgadget/images/revolution_top.png + + + false + + + Qt::AlignCenter + + + Qt::NoTextInteraction + + + + + + + + 0 + 0 + + + + USB Type + + + Qt::AlignBottom|Qt::AlignHCenter + + + + + + + + + + + + + Speed + + + Qt::AlignBottom|Qt::AlignHCenter + + + + + + + false + + + + + + + Speed + + + Qt::AlignBottom|Qt::AlignHCenter + + + + + + + + + + + + + Radio + + + Qt::AlignCenter + + + + + + + Flexi Port + + + Qt::AlignBottom|Qt::AlignHCenter + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 120 + 10 + + + + + + + + Speed + + + Qt::AlignBottom|Qt::AlignHCenter + + + + + + + 0 + + + + + true + + + + + + + + + + + + + + + 0 + + + + + true + + + + + + + + + + + + + + + true + + + + + + + 0 + + + + + + + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 120 + 10 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 120 + 10 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 120 + 10 + + + + + + + + Qt::Vertical + + + QSizePolicy::Minimum + + + + 20 + 16 + + + + + + + + Qt::Vertical + + + QSizePolicy::Minimum + + + + 20 + 22 + + + + + + + - - - - - Select the speed here. - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - 4 - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Send to OpenPilot but don't write in SD. -Beware of not locking yourself out! - - - Apply - - - - - - - Applies and Saves all settings to SD. -Beware of not locking yourself out! - - - Save - - - - - - + + + + + + + + 4 + + + + + Qt::Horizontal + + + + 369 + 20 + + + + + + + + + 0 + 0 + + + + + 25 + 25 + + + + + 25 + 25 + + + + Takes you to the wiki page + + + + + + + :/core/images/helpicon.svg:/core/images/helpicon.svg + + + + 25 + 25 + + + + true + + + + + + + + 0 + 0 + + + + + 16777215 + 16777215 + + + + + + + + + 255 + 255 + 255 + + + + + + + 232 + 232 + 232 + + + + + + + + + 255 + 255 + 255 + + + + + + + 232 + 232 + 232 + + + + + + + + + 232 + 232 + 232 + + + + + + + 232 + 232 + 232 + + + + + + + + Send to OpenPilot but don't write in SD. +Beware of not locking yourself out! + + + false + + + + + + Apply + + + + 16 + 16 + + + + false + + + + + + + + 0 + 0 + + + + + 16777215 + 16777215 + + + + Applies and Saves all settings to SD. +Beware of not locking yourself out! + + + false + + + + + + Save + + + + + - + + + + diff --git a/ground/openpilotgcs/src/plugins/config/images/revolution_top.png b/ground/openpilotgcs/src/plugins/config/images/revolution_top.png new file mode 100644 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z*4(r%w8%ggFK79-w?XQ*a{Kx9Lo!@>R(!rnh1Ds{#2g`pnp1p*z-IEHI*yNRyl2KJT;#lo+nrahFDTV^weAMqHklT-N(y!G&xeQK zS-{OHtB8=g4Qz3$$?-sa*l1n1;$oLh=!36># zJ#_rc=2m{SrMbz2X77?B-{)32t||?I-j1UQh1!D?h1AzXz1`UV9{B(B-*d9@zxAlU Z_Wp%|^G|L*Ed)@1hWZcn>UA7q{tw{{AZ`Ev literal 0 HcmV?d00001 From 8a59b5c07a15376ff3d005dc7f801bc365ef912d Mon Sep 17 00:00:00 2001 From: Kevin Vertucio Date: Fri, 1 Mar 2013 08:53:04 -0500 Subject: [PATCH 21/39] clean up formatting from review comments Signed-off-by: Kevin Vertucio --- .../plugins/coreplugin/qml/AboutDialog.qml | 46 +++++++++---------- 1 file changed, 21 insertions(+), 25 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml index c8574c48b..a1be53bc5 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml +++ b/ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml @@ -41,29 +41,27 @@ import QtQuick 1.1 import QtWebKit 1.0 - // This is a tabbed pane element. Add a nested Rectangle to add a tab. - - TabWidget { - id: tabs - width: 640; height: 480 - // This tab is for the GCS version information - Rectangle { - property string title: "OpenPilot GCS" - anchors.fill: parent - color: "#e3e3e3" - - Rectangle { - anchors.fill: parent; anchors.margins: 20 - color: "#e3e3e3" + // This is a tabbed pane element. Add a nested Rectangle to add a tab. + TabWidget { + id: tabs + width: 640; height: 480 + // This tab is for the GCS version information + Rectangle { + property string title: "OpenPilot GCS" + anchors.fill: parent + color: "#e3e3e3" + + Rectangle { + anchors.fill: parent; anchors.margins: 20 + color: "#e3e3e3" Image { - source: "../images/openpilot_logo_128.png" - x: 0; y: 0 - z: 100 + source: "../images/openpilot_logo_128.png" + x: 0; y: 0; z: 100 fillMode: Image.PreserveAspectFit } Flickable { - anchors.fill: parent - anchors.centerIn: parent + anchors.fill: parent + anchors.centerIn: parent Text { id: versionLabel x: 156; y: 0 @@ -77,7 +75,7 @@ } } } - // This is a stub for the Plugins. + // This is a stub for the Plugins. // Rectangle { // property string title: "Plugins" // anchors.fill: parent @@ -106,8 +104,6 @@ z: 0 url: "../CREDITS.html" anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom } - } - } - } - } - + } + } + } \ No newline at end of file From c07142fa53394192cea67c605d297275cf4df417 Mon Sep 17 00:00:00 2001 From: Kevin Vertucio Date: Fri, 1 Mar 2013 08:59:02 -0500 Subject: [PATCH 22/39] fixed some grammatical errors and formatting Signed-off-by: Kevin Vertucio --- ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html b/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html index c80fe5325..06d0e8754 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html +++ b/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html @@ -4,9 +4,9 @@ pre { font-family: Helvetica, Arial, "MS Trebuchet", sans-serif; } -

This is a credits file of people that are or have been key contributors to the OpenPilot project.Without the work of the people in this file OpenPilot would not be what it is today.

+

This is a credits file of people that are or have been key contributors to the OpenPilot project. Without the work of the people in this list OpenPilot would not be what it is today.

-

It is sorted alphabetically by name

+

This list is sorted alphabetically by name

Connor Abbott
 David Ankers

From e4d516424e54923c3ac5e298f9c59fb3382d54fb Mon Sep 17 00:00:00 2001
From: Kevin Vertucio 
Date: Fri, 1 Mar 2013 09:10:26 -0500
Subject: [PATCH 23/39] fixed indentation and clean up formatting

Signed-off-by: Kevin Vertucio 
---
 .../src/plugins/coreplugin/authorsdialog.cpp  | 71 +++++++++----------
 1 file changed, 34 insertions(+), 37 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp
index 67b3c28f6..2b631fa05 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp
@@ -61,9 +61,9 @@ AuthorsDialog::AuthorsDialog(QWidget *parent)
     setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png"));
     setWindowTitle(tr("About OpenPilot"));
     setWindowFlags(windowFlags() & ~Qt::WindowContextHelpButtonHint);
-	//This loads a QML doc containing a Tabbed view
-   QDeclarativeView *view = new QDeclarativeView(this);
-   view->setSource(QUrl("qrc:/core/qml/AboutDialog.qml"));
+	// This loads a QML doc containing a Tabbed view
+	QDeclarativeView *view = new QDeclarativeView(this);
+	view->setSource(QUrl("qrc:/core/qml/AboutDialog.qml"));
 
 
 
@@ -71,52 +71,49 @@ AuthorsDialog::AuthorsDialog(QWidget *parent)
      version += QDate(2007, 25, 10).toString(Qt::SystemLocaleDate);
  
      QString ideRev;
- #ifdef GCS_REVISION
+#ifdef GCS_REVISION
       //: This gets conditionally inserted as argument %8 into the description string.
       ideRev = tr("From revision %1
").arg(QString::fromLatin1(GCS_REVISION_STR).left(10));
- #endif
+#endif
 
  #ifdef UAVO_HASH
        //: This gets conditionally inserted as argument %11 into the description string.
       QByteArray uavoHashArray;
       QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
       uavoHash.chop(2);
-      uavoHash.remove(0,2);
-      uavoHash=uavoHash.trimmed();
+      uavoHash.remove(0, 2);
+      uavoHash = uavoHash.trimmed();
       bool ok;
-      foreach(QString str,uavoHash.split(","))
-      {
-          uavoHashArray.append(str.toInt(&ok,16));
+      foreach(QString str, uavoHash.split(",")) {
+          uavoHashArray.append(str.toInt(&ok, 16));
       }
       QString gcsUavoHashStr;
-      foreach(char i, uavoHashArray)
-      {
-          gcsUavoHashStr.append(QString::number(i,16).right(2));
+      foreach(char i, uavoHashArray) {
+          gcsUavoHashStr.append(QString::number(i, 16).right(2));
       }
       QString uavoHashStr = gcsUavoHashStr;
- #else
-     QString uavoHashStr = "N/A";
- #endif
-
-      const QString description = tr(
-         "
OpenPilot Ground Control Station
"
-         "GCS Revision: %1
"
-         "UAVO Hash: %2
"
-         "
"
-         "Built from %3
"
-         "Built on %4 at %5
"
-         "Based on Qt %6 (%7 bit)
"
-         "
"
-         "© %8, 2010-%9. All rights reserved.
"
-         "
"
-         "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.
"
-         "
"
-         "The program is provided AS IS with NO WARRANTY OF ANY KIND, "
-         "INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A "
-         "PARTICULAR PURPOSE."
+#else
+	  QString uavoHashStr = "N/A";
+#endif
+	 const QString description = tr(
+		"
OpenPilot Ground Control Station
"
+		"GCS Revision: %1
"
+		"UAVO Hash: %2
"
+		"
"
+		"Built from %3
"
+		"Built on %4 at %5
"
+		"Based on Qt %6 (%7 bit)
"
+		"
"
+		"© %8, 2010-%9. All rights reserved.
"
+		"
"
+		"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.
"
+		"
"
+		"The program is provided AS IS with NO WARRANTY OF ANY KIND, "
+		"INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A "
+		"PARTICULAR PURPOSE."
       ).arg(
          QString::fromLatin1(GCS_REVISION_STR).left(60), // %1
          uavoHashStr,                                    // %2
@@ -128,7 +125,7 @@ AuthorsDialog::AuthorsDialog(QWidget *parent)
          QLatin1String(GCS_AUTHOR),                      // %8
          QLatin1String(GCS_YEAR_STR)                     // %9
      );
-  //Expose the version description to the QML doc
+  // Expose the version description to the QML doc
 	view->rootContext()->setContextProperty("version", description);
  
 }

From 4c95e5c613d7f4ad7ecbc95b545731c11f727679 Mon Sep 17 00:00:00 2001
From: Kevin Vertucio 
Date: Fri, 1 Mar 2013 09:13:32 -0500
Subject: [PATCH 24/39] fixed indentation

Signed-off-by: Kevin Vertucio 
---
 .../src/plugins/coreplugin/core.qrc           | 124 +++++++++---------
 .../src/plugins/coreplugin/coreplugin.pro     |   2 +-
 2 files changed, 63 insertions(+), 63 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
index 09041270a..85ca549e6 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
+++ b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
@@ -1,67 +1,67 @@
 
     
-        images/openpilot_logo_256.png
-        images/openpilot_logo_128.png
-        images/openpilot_logo_64.png
-        images/openpilot_logo_32.png
-        images/clean_pane_small.png
-        images/clear.png
-        images/closebutton.png
-        images/dir.png
-        images/editcopy.png
-        images/editcut.png
-        images/editpaste.png
-        images/empty14.png
-        images/filenew.png
-        images/fileopen.png
-        images/filesave.png
-        images/find.png
-        images/findnext.png
-        images/inputfield.png
-        images/inputfield_disabled.png
-        images/linkicon.png
-        images/locked.png
-        images/magnifier.png
-        images/minus.png
-        images/next.png
-        images/panel_button.png
-        images/panel_button_checked.png
-        images/panel_button_checked_hover.png
-        images/panel_button_hover.png
-        images/panel_button_pressed.png
-        images/plus.png
-        images/prev.png
-        images/pushbutton.png
-        images/pushbutton_hover.png
-        images/pushbutton_pressed.png
-        images/redo.png
-        images/replace.png
-        images/reset.png
-        images/sidebaricon.png
-        images/splitbutton_horizontal.png
-        images/statusbar.png
-        images/undo.png
-        images/unknownfile.png
-        images/unlocked.png
-        images/extension.png
-        images/darkclosebutton.png
-        images/pluginicon.png
-        images/exiticon.png
-        images/optionsicon.png
-        images/helpicon.png
-        images/openpiloticon.png
-        CREDITS.html
-        images/ah.png
-        images/config.png
-        images/flight.png
-        images/home.png
-        images/joystick.png
-        images/scopes.png
-        images/world.png
-        images/cog.png
-        images/helpicon.svg
-        images/cpu.png
-        images/tx-rx.svg
+		images/openpilot_logo_256.png
+		images/openpilot_logo_128.png
+		images/openpilot_logo_64.png
+		images/openpilot_logo_32.png
+		images/clean_pane_small.png
+		images/clear.png
+		images/closebutton.png
+		images/dir.png
+		images/editcopy.png
+		images/editcut.png
+		images/editpaste.png
+		images/empty14.png
+		images/filenew.png
+		images/fileopen.png
+		images/filesave.png
+		images/find.png
+		images/findnext.png
+		images/inputfield.png
+		images/inputfield_disabled.png
+		images/linkicon.png
+		images/locked.png
+		images/magnifier.png
+		images/minus.png
+		images/next.png
+		images/panel_button.png
+		images/panel_button_checked.png
+		images/panel_button_checked_hover.png
+		images/panel_button_hover.png
+		images/panel_button_pressed.png
+		images/plus.png
+		images/prev.png
+		images/pushbutton.png
+		images/pushbutton_hover.png
+		images/pushbutton_pressed.png
+		images/redo.png
+		images/replace.png
+		images/reset.png
+		images/sidebaricon.png
+		images/splitbutton_horizontal.png
+		images/statusbar.png
+		images/undo.png
+		images/unknownfile.png
+		images/unlocked.png
+		images/extension.png
+		images/darkclosebutton.png
+		images/pluginicon.png
+		images/exiticon.png
+		images/optionsicon.png
+		images/helpicon.png
+		images/openpiloticon.png
+		CREDITS.html
+		images/ah.png
+		images/config.png
+		images/flight.png
+		images/home.png
+		images/joystick.png
+		images/scopes.png
+		images/world.png
+		images/cog.png
+		images/helpicon.svg
+		images/cpu.png
+		images/tx-rx.svg
 		qml/images/tab.png
 		qml/AboutDialog.qml
 		qml/FlickableWebView.qml
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
index 62ee7f5f7..56bfce82d 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
@@ -2,7 +2,7 @@ TEMPLATE = lib
 TARGET = Core
 DEFINES += CORE_LIBRARY
 QT += declarative \
-	xml \
+    xml \
     network \
     script \
     svg \

From 9e870e6ae383a6f55b7f0dcb31c1cd39fa3ed2e4 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson 
Date: Sun, 3 Mar 2013 14:17:37 +0100
Subject: [PATCH 25/39] OP-856 Added enabling/disabling of required modules
 depending on port configuration. Added rules for port configuration.

---
 .../src/plugins/config/configrevohwwidget.cpp | 118 ++++++++++-
 .../src/plugins/config/configrevohwwidget.h   |   4 +-
 .../src/plugins/config/configrevohwwidget.ui  | 195 +++++++++---------
 3 files changed, 209 insertions(+), 108 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
index 532dc3b48..e383b5221 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
@@ -30,6 +30,8 @@
 #include 
 #include 
 #include "hwsettings.h"
+#include 
+#include 
 
 
 ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
@@ -45,6 +47,7 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren
     }
 
     addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD);
+
     addUAVObjectToWidgetRelation("HwSettings","RM_FlexiPort",m_ui->cbFlexi);
     addUAVObjectToWidgetRelation("HwSettings","RM_MainPort",m_ui->cbMain);
     addUAVObjectToWidgetRelation("HwSettings","RM_RcvrPort",m_ui->cbRcvr);
@@ -62,6 +65,9 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren
     addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_ui->cbMainComSpeed);
 
     addUAVObjectToWidgetRelation("HwSettings","RadioPort",m_ui->cbModem);
+
+    connect(m_ui->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
+
     setupCustomCombos();
     enableControls(true);
     populateWidgets();
@@ -86,6 +92,7 @@ void ConfigRevoHWWidget::setupCustomCombos()
 
     connect(m_ui->cbFlexi, SIGNAL(currentIndexChanged(int)), this, SLOT(flexiPortChanged(int)));
     connect(m_ui->cbMain, SIGNAL(currentIndexChanged(int)), this, SLOT(mainPortChanged(int)));
+    connect(m_ui->cbModem, SIGNAL(currentIndexChanged(int)), this, SLOT(modemPortChanged(int)));
 
 }
 
@@ -105,6 +112,39 @@ void ConfigRevoHWWidget::refreshWidgetsValues(UAVObject *obj)
     flexiPortChanged(0);
 }
 
+void ConfigRevoHWWidget::updateObjectsFromWidgets()
+{
+    ConfigTaskWidget::updateObjectsFromWidgets();
+
+    HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
+    HwSettings::DataFields data = hwSettings->getData();
+
+    // If any port is configured to be GPS port, enable GPS module if it is not enabled.
+    // Otherwise disable GPS module.
+    if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS || m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
+        if(data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
+            data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
+        }
+    }
+    else if(data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_DISABLED) {
+        data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
+    }
+
+    // If any port is configured to be ComBridge port, enable UsbComBridge module if it is not enabled.
+    // Otherwise disable UsbComBridge module.
+    if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE || m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE ||
+            m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_COMBRIDGE) {
+        if(data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] != HwSettings::OPTIONALMODULES_ENABLED) {
+            data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] = HwSettings::OPTIONALMODULES_ENABLED;
+        }
+    }
+    else if(data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] != HwSettings::OPTIONALMODULES_DISABLED) {
+        data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] = HwSettings::OPTIONALMODULES_DISABLED;
+    }
+
+    hwSettings->setData(data);
+}
+
 void ConfigRevoHWWidget::usbTypeChanged(int index)
 {
     Q_UNUSED(index);
@@ -115,8 +155,30 @@ void ConfigRevoHWWidget::usbTypeChanged(int index)
 
     m_ui->lblUSBVCPSpeed->setVisible(!hid);
     m_ui->cbUSBVCPSpeed->setVisible(!hid);
+
+    if(hid){
+        m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+        m_ui->cbUSBHIDFunction->setCurrentIndex(HwSettings::USB_HIDPORT_USBTELEMETRY);
+    }
+    else {
+        m_ui->cbUSBHIDFunction->setCurrentIndex(HwSettings::USB_HIDPORT_DISABLED);
+        m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_USBTELEMETRY);
+    }
+
+    if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
+        m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+    }
+    m_ui->cbFlexi->model()->setData(m_ui->cbFlexi->model()->index(HwSettings::RM_FLEXIPORT_COMBRIDGE, 0),
+                                    hid ? QVariant(0) : QVariant(1|32), Qt::UserRole - 1);
+
+    if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
+        m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+    }
+    m_ui->cbMain->model()->setData(m_ui->cbMain->model()->index(HwSettings::RM_MAINPORT_COMBRIDGE, 0),
+                                   hid ? QVariant(0) : QVariant(1|32), Qt::UserRole - 1);
 }
 
+
 void ConfigRevoHWWidget::flexiPortChanged(int index)
 {
     Q_UNUSED(index);
@@ -126,17 +188,28 @@ void ConfigRevoHWWidget::flexiPortChanged(int index)
     m_ui->cbFlexiComSpeed->setVisible(false);
     m_ui->lblFlexiSpeed->setVisible(true);
 
-    int value = m_ui->cbFlexi->currentIndex();
-    switch(value)
+    switch(m_ui->cbFlexi->currentIndex())
     {
         case HwSettings::RM_FLEXIPORT_TELEMETRY:
             m_ui->cbFlexiTelemSpeed->setVisible(true);
+            if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_TELEMETRY) {
+                m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+            }
+            if(m_ui->cbModem->currentIndex() == HwSettings::RADIOPORT_TELEMETRY) {
+                m_ui->cbModem->setCurrentIndex(HwSettings::RADIOPORT_DISABLED);
+            }
             break;
         case HwSettings::RM_FLEXIPORT_GPS:
             m_ui->cbFlexiGPSSpeed->setVisible(true);
+            if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
+                m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+            }
             break;
         case HwSettings::RM_FLEXIPORT_COMBRIDGE:
             m_ui->cbFlexiComSpeed->setVisible(true);
+            if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
+                m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+            }
             break;
         default:
             m_ui->lblFlexiSpeed->setVisible(false);
@@ -153,17 +226,28 @@ void ConfigRevoHWWidget::mainPortChanged(int index)
     m_ui->cbMainComSpeed->setVisible(false);
     m_ui->lblMainSpeed->setVisible(true);
 
-    int value = m_ui->cbMain->currentIndex();
-    switch(value)
+    switch(m_ui->cbMain->currentIndex())
     {
-        case HwSettings::RM_FLEXIPORT_TELEMETRY:
+        case HwSettings::RM_MAINPORT_TELEMETRY:
             m_ui->cbMainTelemSpeed->setVisible(true);
+            if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
+                m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+            }
+            if(m_ui->cbModem->currentIndex() == HwSettings::RADIOPORT_TELEMETRY) {
+                m_ui->cbModem->setCurrentIndex(HwSettings::RADIOPORT_DISABLED);
+            }
             break;
-        case HwSettings::RM_FLEXIPORT_GPS:
+        case HwSettings::RM_MAINPORT_GPS:
             m_ui->cbMainGPSSpeed->setVisible(true);
+            if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS) {
+                m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+            }
             break;
-        case HwSettings::RM_FLEXIPORT_COMBRIDGE:
+        case HwSettings::RM_MAINPORT_COMBRIDGE:
             m_ui->cbMainComSpeed->setVisible(true);
+            if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
+                m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+            }
             break;
         default:
             m_ui->lblMainSpeed->setVisible(false);
@@ -171,9 +255,21 @@ void ConfigRevoHWWidget::mainPortChanged(int index)
     }
 }
 
-/**
-  Request telemetry settings from the board
-  */
-void ConfigRevoHWWidget::refreshValues()
+void ConfigRevoHWWidget::modemPortChanged(int index)
 {
+    Q_UNUSED(index);
+
+    if(m_ui->cbModem->currentIndex()== HwSettings::RADIOPORT_TELEMETRY) {
+        if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_TELEMETRY) {
+            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        }
+        if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
+            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+    }
+}
+
+void ConfigRevoHWWidget::openHelp()
+{
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/GgDBAQ", QUrl::StrictMode) );
 }
diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h
index 7e4bd4c16..6615411d5 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h
@@ -51,12 +51,14 @@ private:
 
 protected slots:
     void refreshWidgetsValues(UAVObject * obj = NULL);
+    void updateObjectsFromWidgets();
 
 private slots:
-    virtual void refreshValues();
     void usbTypeChanged(int index);
     void flexiPortChanged(int index);
     void mainPortChanged(int index);
+    void modemPortChanged(int index);
+    void openHelp();
 
 };
 
diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
index 6814108c9..b78c40975 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
@@ -93,6 +93,9 @@
            
           
          
+         
+          border-color: rgb(255, 0, 0);
+         
          
           QFrame::NoFrame
          
@@ -107,106 +110,14 @@
            
             0
             0
-            806
-            654
+            810
+            665
            
           
           
            
             12
            
-           
-            
-             
-              Qt::Vertical
-             
-             
-              
-               20
-               25
-              
-             
-            
-           
-           
-            
-             
-              
-               0
-               0
-              
-             
-             
-              
-               500
-               0
-              
-             
-             
-              
-               500
-               16777215
-              
-             
-             
-              
-               75
-               true
-              
-             
-             
-              Changes on this page only take effect after board reset or power cycle
-             
-             
-              Qt::AlignCenter
-             
-             
-              true
-             
-            
-           
-           
-            
-             
-              Qt::Horizontal
-             
-             
-              
-               40
-               20
-              
-             
-            
-           
-           
-            
-             
-              Qt::Vertical
-             
-             
-              QSizePolicy::Fixed
-             
-             
-              
-               20
-               10
-              
-             
-            
-           
-           
-            
-             
-              Qt::Horizontal
-             
-             
-              
-               40
-               20
-              
-             
-            
-           
            
             
              
@@ -260,7 +171,7 @@
                 
                
                
-                Function
+                USB Function
                
                
                 Qt::AlignBottom|Qt::AlignHCenter
@@ -368,7 +279,7 @@
                 
                
                
-                USB Type
+                USB Port
                
                
                 Qt::AlignBottom|Qt::AlignHCenter
@@ -602,6 +513,98 @@
              
             
            
+           
+            
+             
+              
+               0
+               0
+              
+             
+             
+              
+               0
+               0
+              
+             
+             
+              
+               16777215
+               16777215
+              
+             
+             
+              
+               75
+               true
+              
+             
+             
+              Changes on this page only take effect after board reset or power cycle
+             
+             
+              Qt::AlignCenter
+             
+             
+              true
+             
+            
+           
+           
+            
+             
+              Qt::Vertical
+             
+             
+              QSizePolicy::Fixed
+             
+             
+              
+               20
+               10
+              
+             
+            
+           
+           
+            
+             
+              Qt::Horizontal
+             
+             
+              
+               40
+               20
+              
+             
+            
+           
+           
+            
+             
+              Qt::Horizontal
+             
+             
+              
+               40
+               20
+              
+             
+            
+           
+           
+            
+             
+              Qt::Vertical
+             
+             
+              
+               20
+               40
+              
+             
+            
+           
           
          
         

From e2e3089cf56b36b2bc5cb236f79af780d816f1bd Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson 
Date: Sun, 3 Mar 2013 16:56:52 +0100
Subject: [PATCH 26/39] OP-864 Made OpenPilotGCS.xml the default configuration
 on first start. If this file is missing for some reason the selection dialog
 will appear. The configuration can also be set as a command line option.

---
 .../src/plugins/coreplugin/mainwindow.cpp          | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index 000156d70..d21fe199d 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -91,6 +91,7 @@ using namespace Core;
 using namespace Core::Internal;
 
 static const char *uriListMimeFormatC = "text/uri-list";
+static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
 enum { debugMainWindow = 0 };
 
@@ -289,17 +290,17 @@ void MainWindow::extensionsInitialized()
         directory.cd("default_configurations");
 
         qDebug() << "Looking for default config files in: " + directory.absolutePath();
-        bool showDialog = true;
+
         QString filename;
         if(!commandLine.isEmpty()) {
             if(QFile::exists(directory.absolutePath() + QDir::separator()+commandLine)) {
                 filename = directory.absolutePath() + QDir::separator()+commandLine;
                 qDebug() << "Load configuration from command line";
                 settings = new QSettings(filename, XmlConfig::XmlSettingsFormat);
-                showDialog = false;
             }
-        }
-        if(showDialog) {
+        }        
+        if(!QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
+            qDebug() << "Default config file " << directory.absolutePath() << QDir::separator() << DEFAULT_CONFIG_FILENAME << " was not found.";
             importSettings *dialog = new importSettings(this);
             dialog->loadFiles(directory.absolutePath());
             dialog->exec();
@@ -307,6 +308,11 @@ void MainWindow::extensionsInitialized()
             settings = new QSettings(filename, XmlConfig::XmlSettingsFormat);
             delete dialog;
         }
+        else {
+            qDebug() << "Default config file " << directory.absolutePath() << QDir::separator() << DEFAULT_CONFIG_FILENAME << " was not loaded.";
+            settings = new QSettings(directory.absolutePath() + QDir::separator() +
+                                     DEFAULT_CONFIG_FILENAME, XmlConfig::XmlSettingsFormat);
+        }
         qs = settings;
         qDebug() << "Load default config from resource " << filename;
     }

From 4791f690ad6317c88add20a9239dfd3c3344c691 Mon Sep 17 00:00:00 2001
From: Alessio Morale 
Date: Sun, 3 Mar 2013 20:05:27 +0100
Subject: [PATCH 27/39] OP-848 Move the handling of the UAVO configuration
 outside of the PiOS layer a configuration helper header has been added to
 eliminate a lot of boilerplate code in *pios_board.c

---
 flight/CopterControl/System/pios_board.c |   8 +-
 flight/PiOS/Common/pios_mpu6000.c        | 154 ++++++-----------------
 flight/PiOS/inc/pios_mpu6000.h           |   4 +-
 flight/PiOS/inc/pios_mpu6000_config.h    |  72 +++++++++++
 flight/RevoMini/System/pios_board.c      |   8 +-
 flight/Revolution/System/pios_board.c    |   8 +-
 6 files changed, 126 insertions(+), 128 deletions(-)
 create mode 100644 flight/PiOS/inc/pios_mpu6000_config.h

diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index 210d109b5..e3eb5826b 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -79,6 +79,7 @@ uint32_t pios_usb_rctx_id;
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
+#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 	.vector = PIOS_MPU6000_IRQHandler,
 	.line = EXTI_Line3,
@@ -119,9 +120,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
 	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
 	.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
-	.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
-	.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
-	.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
+	.accel_range = PIOS_MPU6000_ACCEL_8G,
+	.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
+	.filter = PIOS_MPU6000_LOWPASS_256_HZ,
 	.orientation = PIOS_MPU6000_TOP_180DEG
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
@@ -819,6 +820,7 @@ void PIOS_Board_Init(void) {
 				PIOS_Assert(0);
 			}
 			PIOS_MPU6000_Init(pios_spi_gyro_id,0,&pios_mpu6000_cfg);
+			PIOS_MPU6000_CONFIG_Configure();
 			init_test = PIOS_MPU6000_Test();
 #endif /* PIOS_INCLUDE_MPU6000 */
 
diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/Common/pios_mpu6000.c
index 5ba47685a..9ccbb644e 100644
--- a/flight/PiOS/Common/pios_mpu6000.c
+++ b/flight/PiOS/Common/pios_mpu6000.c
@@ -31,7 +31,6 @@
 
 /* Project Includes */
 #include "pios.h"
-#include "mpu6000settings.h"
 #if defined(PIOS_INCLUDE_MPU6000)
 
 #include "fifo_buffer.h"
@@ -50,6 +49,7 @@ struct mpu6000_dev {
 	const struct pios_mpu6000_cfg * cfg;
 	enum pios_mpu6000_range gyro_range;
 	enum pios_mpu6000_accel_range accel_range;
+	enum pios_mpu6000_filter filter;
 	enum pios_mpu6000_dev_magic magic;
 };
 
@@ -64,10 +64,6 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg);
 static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
 static int32_t PIOS_MPU6000_GetReg(uint8_t address);
 
-static uint8_t getGyroRange(enum pios_mpu6000_range range);
-static uint8_t getAccelRange(enum pios_mpu6000_accel_range accel);
-static uint8_t getFilterSetting(enum pios_mpu6000_filter filter);
-
 #define DEG_TO_RAD (M_PI / 180.0)
 
 #define GRAV 9.81f
@@ -143,9 +139,6 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
 
 	PIOS_MPU6000_Test();
 
-	//initialize settings for acc/gyro Scale and filter
-	Mpu6000SettingsInitialize();
-
 	// Reset chip
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0);
 	PIOS_DELAY_WaitmS(300);
@@ -173,29 +166,11 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
 
 	// FIFO storage
 #if defined(PIOS_MPU6000_ACCEL)
-	// Set the accel range
-	dev->accel_range = getAccelRange(cfg->accel_range);
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, dev->accel_range) != 0);
-
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0);
 #else
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0);
 #endif
-	// Digital low-pass filter
-	uint8_t filterSetting;
-	filterSetting = getFilterSetting(cfg->filter);
-
-	// Sample rate divider, chosen upon digital filtering settings
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, 
-		filterSetting == PIOS_MPU6000_LOWPASS_256_HZ ? 
-		cfg->Smpl_rate_div_no_dlp : cfg->Smpl_rate_div_dlp) != 0);
-
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0);
-
-	// Gyro range
-	dev->gyro_range = getGyroRange(cfg->gyro_range);
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, dev->gyro_range) != 0);
-
+	PIOS_MPU6000_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter);
 	// Interrupt configuration
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
 	
@@ -212,6 +187,42 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
 	
 	mpu6000_configured = true;
 }
+/**
+ * @brief Configures Gyro, accel and Filter ranges/setings
+ * @return 0 if successful, -1 if device has not been initialized
+ */
+int32_t PIOS_MPU6000_ConfigureRanges(
+	enum pios_mpu6000_range gyroRange, 
+	enum pios_mpu6000_accel_range accelRange,
+	enum pios_mpu6000_filter filterSetting
+	)
+{
+	if(dev == NULL)
+		return -1;
+	PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
+	// update filter settings
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0);
+	
+	// Sample rate divider, chosen upon digital filtering settings
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, 
+		filterSetting == PIOS_MPU6000_LOWPASS_256_HZ ? 
+		dev->cfg->Smpl_rate_div_no_dlp : dev->cfg->Smpl_rate_div_dlp) != 0);	
+	
+	dev->filter = filterSetting;
+	
+	// Gyro range
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, gyroRange) != 0);
+	
+	dev->gyro_range = gyroRange;
+#if defined(PIOS_MPU6000_ACCEL)
+	// Set the accel range
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, accelRange) != 0);
+	
+	dev->accel_range = accelRange;
+#endif
+	PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
+	return 0;
+}
 
 /**
  * @brief Claim the SPI bus for the accel communications and select this chip
@@ -350,7 +361,6 @@ float PIOS_MPU6000_GetScale()
 			return 1.0f / 65.5f;
 		case PIOS_MPU6000_SCALE_1000_DEG:
 			return 1.0f / 32.8f;
-		case PIOS_MPU6000_SCALE_FROM_SETTINGS:
 		case PIOS_MPU6000_SCALE_2000_DEG:
 			return 1.0f / 16.4f;
 	}
@@ -365,7 +375,6 @@ float PIOS_MPU6000_GetAccelScale()
 		case PIOS_MPU6000_ACCEL_4G:
 			return GRAV / 8192.0f;
 		case PIOS_MPU6000_ACCEL_8G:
-		case PIOS_MPU6000_ACCEL_FROM_SETTINGS:
 			return GRAV / 4096.0f;
 		case PIOS_MPU6000_ACCEL_16G:
 			return GRAV / 2048.0f;
@@ -542,93 +551,6 @@ bool PIOS_MPU6000_IRQHandler(void)
 	return xHigherPriorityTaskWoken == pdTRUE;
 }
 
-/**
- * @brief Return the gyro range setting based on config and/or mpu6000settings.
- * \return the chosen gyro range
- */
-static uint8_t getGyroRange(enum pios_mpu6000_range gyro)
-{
-	// if the setting is overridden by the board config then use the board value
-	if (gyro != PIOS_MPU6000_SCALE_FROM_SETTINGS)
-		return(uint8_t) gyro;
-
-	uint8_t gyroSettings;
-	Mpu6000SettingsGyroScaleGet(&gyroSettings);
-
-	switch (gyroSettings) {
-	case MPU6000SETTINGS_GYROSCALE_SCALE_250:
-		return PIOS_MPU6000_SCALE_250_DEG;
-	case MPU6000SETTINGS_GYROSCALE_SCALE_500:
-		return PIOS_MPU6000_SCALE_500_DEG;
-	case MPU6000SETTINGS_GYROSCALE_SCALE_1000:
-		return PIOS_MPU6000_SCALE_1000_DEG;
-	case MPU6000SETTINGS_GYROSCALE_SCALE_2000:
-		return PIOS_MPU6000_SCALE_2000_DEG;
-	default:
-		return PIOS_MPU6000_SCALE_2000_DEG;
-	}
-}
-
-/**
- * @brief Return the accel range setting based on config and/or mpu6000settings.
- * \return the chosen accel range
- */
-static uint8_t getAccelRange(enum pios_mpu6000_accel_range accel)
-{
-	// if the setting is overridden by the board config then use the board value
-	if (accel != PIOS_MPU6000_ACCEL_FROM_SETTINGS)
-		return (uint8_t) accel;
-
-	uint8_t accelSetting;
-	Mpu6000SettingsAccelScaleGet(&accelSetting);
-
-	switch (accelSetting) {
-	case MPU6000SETTINGS_ACCELSCALE_SCALE_2G:
-		return PIOS_MPU6000_ACCEL_2G;
-	case MPU6000SETTINGS_ACCELSCALE_SCALE_4G:
-		return PIOS_MPU6000_ACCEL_4G;
-	case MPU6000SETTINGS_ACCELSCALE_SCALE_8G:
-		return PIOS_MPU6000_ACCEL_8G;
-	case MPU6000SETTINGS_ACCELSCALE_SCALE_16G:
-		return PIOS_MPU6000_ACCEL_16G;
-	default:
-		return PIOS_MPU6000_ACCEL_8G;
-	}
-}
-
-/**
- * @brief Return the filter settings based on config and/or mpu6000settings.
- * \return the chosen filter settings
- */
-static uint8_t getFilterSetting(enum pios_mpu6000_filter filter)
-{
-	// if the setting is overridden by the board config then use the board value
-	if (filter != PIOS_MPU6000_LOWPASS_FROM_SETTINGS)
-		return(uint8_t) filter;
-
-	uint8_t filterSetting;
-	Mpu6000SettingsFilterSettingGet(&filterSetting);
-
-	switch (filterSetting) {
-	case MPU6000SETTINGS_FILTERSETTING_LOWPASS_256_HZ:
-		return PIOS_MPU6000_LOWPASS_256_HZ;
-	case MPU6000SETTINGS_FILTERSETTING_LOWPASS_188_HZ:
-		return PIOS_MPU6000_LOWPASS_188_HZ;
-	case MPU6000SETTINGS_FILTERSETTING_LOWPASS_98_HZ:
-		return PIOS_MPU6000_LOWPASS_98_HZ;
-	case MPU6000SETTINGS_FILTERSETTING_LOWPASS_42_HZ:
-		return PIOS_MPU6000_LOWPASS_42_HZ;
-	case MPU6000SETTINGS_FILTERSETTING_LOWPASS_20_HZ:
-		return PIOS_MPU6000_LOWPASS_20_HZ;
-	case MPU6000SETTINGS_FILTERSETTING_LOWPASS_10_HZ:
-		return PIOS_MPU6000_LOWPASS_10_HZ;
-	case MPU6000SETTINGS_FILTERSETTING_LOWPASS_5_HZ:
-		return PIOS_MPU6000_LOWPASS_5_HZ;
-	default:
-		return PIOS_MPU6000_LOWPASS_256_HZ;
-	}
-}
-
 #endif
 
 /**
diff --git a/flight/PiOS/inc/pios_mpu6000.h b/flight/PiOS/inc/pios_mpu6000.h
index 6d92ada51..6f5e6772a 100644
--- a/flight/PiOS/inc/pios_mpu6000.h
+++ b/flight/PiOS/inc/pios_mpu6000.h
@@ -102,7 +102,6 @@
 #define PIOS_MPU6000_PWRMGMT_STOP_CLK     0X07
 
 enum pios_mpu6000_range {
-        PIOS_MPU6000_SCALE_FROM_SETTINGS = 0xFF,
 	PIOS_MPU6000_SCALE_250_DEG  = 0x00,
 	PIOS_MPU6000_SCALE_500_DEG  = 0x08,
 	PIOS_MPU6000_SCALE_1000_DEG = 0x10,
@@ -110,7 +109,6 @@ enum pios_mpu6000_range {
 };
 
 enum pios_mpu6000_filter {
-        PIOS_MPU6000_LOWPASS_FROM_SETTINGS = 0xFF,
 	PIOS_MPU6000_LOWPASS_256_HZ = 0x00,
 	PIOS_MPU6000_LOWPASS_188_HZ = 0x01,
 	PIOS_MPU6000_LOWPASS_98_HZ  = 0x02,
@@ -121,7 +119,6 @@ enum pios_mpu6000_filter {
 };
 
 enum pios_mpu6000_accel_range {
-        PIOS_MPU6000_ACCEL_FROM_SETTINGS = 0xFF,
 	PIOS_MPU6000_ACCEL_2G = 0x00,
 	PIOS_MPU6000_ACCEL_4G = 0x08,
 	PIOS_MPU6000_ACCEL_8G = 0x10,
@@ -167,6 +164,7 @@ struct pios_mpu6000_cfg {
 
 /* Public Functions */
 extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg * new_cfg);
+extern int32_t PIOS_MPU6000_ConfigureRanges(enum pios_mpu6000_range gyroRange, enum pios_mpu6000_accel_range accelRange,enum pios_mpu6000_filter filterSetting);
 extern xQueueHandle PIOS_MPU6000_GetQueue();
 extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer);
 extern int32_t PIOS_MPU6000_ReadID();
diff --git a/flight/PiOS/inc/pios_mpu6000_config.h b/flight/PiOS/inc/pios_mpu6000_config.h
new file mode 100644
index 000000000..f75ca0f7f
--- /dev/null
+++ b/flight/PiOS/inc/pios_mpu6000_config.h
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_MPU6000 OpenPilot layer configuration utilities
+ * @brief provides mpu6000 configuration helpers function
+ * @{
+ *
+ * @file       PIOS_MPU6000_CONFIG.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      MPU6000 3-axis gyor function headers
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ ******************************************************************************
+ */
+/* 
+ * 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 PIOS_MPU6000_CONFIG_H
+#define	PIOS_MPU6000_CONFIG_H
+
+#include "mpu6000settings.h"
+#include "pios_mpu6000.h"
+
+#define PIOS_MPU6000_CONFIG_MAP_GYROSCALE(x)  (x == MPU6000SETTINGS_GYROSCALE_SCALE_250 ? PIOS_MPU6000_SCALE_250_DEG : \
+                                     x == MPU6000SETTINGS_GYROSCALE_SCALE_500 ? PIOS_MPU6000_SCALE_500_DEG : \
+                                     x == MPU6000SETTINGS_GYROSCALE_SCALE_1000 ? PIOS_MPU6000_SCALE_1000_DEG : \
+                                     PIOS_MPU6000_SCALE_2000_DEG)
+
+#define PIOS_MPU6000_CONFIG_MAP_ACCELSCALE(x)  (x == MPU6000SETTINGS_ACCELSCALE_SCALE_2G ? PIOS_MPU6000_ACCEL_2G : \
+                                    x == MPU6000SETTINGS_ACCELSCALE_SCALE_4G ? PIOS_MPU6000_ACCEL_4G : \
+                                    x == MPU6000SETTINGS_ACCELSCALE_SCALE_16G ? PIOS_MPU6000_ACCEL_16G : \
+                                    PIOS_MPU6000_ACCEL_8G)
+
+#define PIOS_MPU6000_CONFIG_MAP_FILTERSETTING(x)  (x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_188_HZ ? PIOS_MPU6000_LOWPASS_188_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_98_HZ ? PIOS_MPU6000_LOWPASS_98_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_42_HZ ? PIOS_MPU6000_LOWPASS_42_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_20_HZ ? PIOS_MPU6000_LOWPASS_20_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_10_HZ ? PIOS_MPU6000_LOWPASS_10_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_5_HZ ? PIOS_MPU6000_LOWPASS_5_HZ : \
+                                       PIOS_MPU6000_LOWPASS_256_HZ)
+/**
+ * @brief Updates MPU6000 config based on Mpu6000Settings UAVO
+ * @returns 0 if succeed or -1 otherwise
+ */
+int32_t PIOS_MPU6000_CONFIG_Configure()
+{
+    Mpu6000SettingsInitialize();
+    Mpu6000SettingsData mpu6000settings;
+    Mpu6000SettingsGet(&mpu6000settings);
+    return PIOS_MPU6000_ConfigureRanges(
+            PIOS_MPU6000_CONFIG_MAP_GYROSCALE (mpu6000settings.GyroScale),
+            PIOS_MPU6000_CONFIG_MAP_ACCELSCALE(mpu6000settings.AccelScale),
+            PIOS_MPU6000_CONFIG_MAP_FILTERSETTING(mpu6000settings.FilterSetting)
+            );
+}
+
+#endif	/* PIOS_MPU6000_CONFIG_H */
+
diff --git a/flight/RevoMini/System/pios_board.c b/flight/RevoMini/System/pios_board.c
index 68aec9ff8..380f5fe59 100644
--- a/flight/RevoMini/System/pios_board.c
+++ b/flight/RevoMini/System/pios_board.c
@@ -141,6 +141,7 @@ static const struct pios_ms5611_cfg pios_ms5611_cfg = {
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
+#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 	.vector = PIOS_MPU6000_IRQHandler,
 	.line = EXTI_Line4,
@@ -183,9 +184,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
 	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
 	.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
-	.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
-	.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
-	.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
+	.accel_range = PIOS_MPU6000_ACCEL_8G,
+	.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
+	.filter = PIOS_MPU6000_LOWPASS_256_HZ,
 	.orientation = PIOS_MPU6000_TOP_180DEG
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
@@ -732,6 +733,7 @@ void PIOS_Board_Init(void) {
 
 #if defined(PIOS_INCLUDE_MPU6000)
 	PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
+	PIOS_MPU6000_CONFIG_Configure();
 #endif
 
 }
diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c
index 45a9a08f8..6f61c6625 100644
--- a/flight/Revolution/System/pios_board.c
+++ b/flight/Revolution/System/pios_board.c
@@ -182,6 +182,7 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
+#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 	.vector = PIOS_MPU6000_IRQHandler,
 	.line = EXTI_Line8,
@@ -224,9 +225,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
 	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
 	.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
-	.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
-	.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
-	.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
+	.accel_range = PIOS_MPU6000_ACCEL_8G,
+	.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
+	.filter = PIOS_MPU6000_LOWPASS_256_HZ,
 	.orientation = PIOS_MPU6000_TOP_0DEG
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
@@ -874,6 +875,7 @@ void PIOS_Board_Init(void) {
 		case 0x02:
 #if defined(PIOS_INCLUDE_MPU6000)
 			PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
+			PIOS_MPU6000_CONFIG_Configure();
 #endif
 			break;
 		default:

From 2f3493f4b8982864e7b553a7e2a65789164ddc7d Mon Sep 17 00:00:00 2001
From: Alessio Morale 
Date: Sun, 3 Mar 2013 21:45:29 +0100
Subject: [PATCH 28/39] OP848 Fixes typos on header files comments

---
 flight/PiOS/inc/pios_mpu6000.h        | 2 +-
 flight/PiOS/inc/pios_mpu6000_config.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/PiOS/inc/pios_mpu6000.h b/flight/PiOS/inc/pios_mpu6000.h
index 6f5e6772a..1be368575 100644
--- a/flight/PiOS/inc/pios_mpu6000.h
+++ b/flight/PiOS/inc/pios_mpu6000.h
@@ -8,7 +8,7 @@
  *
  * @file       PIOS_MPU6000.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      MPU6000 3-axis gyor function headers
+ * @brief      MPU6000 3-axis gyro function headers
  * @see        The GNU Public License (GPL) Version 3
  *
  ******************************************************************************
diff --git a/flight/PiOS/inc/pios_mpu6000_config.h b/flight/PiOS/inc/pios_mpu6000_config.h
index f75ca0f7f..59e355c9a 100644
--- a/flight/PiOS/inc/pios_mpu6000_config.h
+++ b/flight/PiOS/inc/pios_mpu6000_config.h
@@ -8,7 +8,7 @@
  *
  * @file       PIOS_MPU6000_CONFIG.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
- * @brief      MPU6000 3-axis gyor function headers
+ * @brief      MPU6000 UAVO-based configuration functions
  * @see        The GNU Public License (GPL) Version 3
  *
  ******************************************************************************

From 99ae18990e54ff8941a656084f0c75076019d2a8 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson 
Date: Mon, 4 Mar 2013 08:04:55 +0100
Subject: [PATCH 29/39] OP-856 Removed redundant code. Changed image of
 Revolution board to one with white PCB.

---
 .../src/plugins/config/configrevohwwidget.cpp |  12 ++++--------
 .../plugins/config/images/revolution_top.png  | Bin 157186 -> 182625 bytes
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
index e383b5221..52b03f926 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
@@ -122,11 +122,9 @@ void ConfigRevoHWWidget::updateObjectsFromWidgets()
     // If any port is configured to be GPS port, enable GPS module if it is not enabled.
     // Otherwise disable GPS module.
     if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS || m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
-        if(data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
-            data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
-        }
+        data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
     }
-    else if(data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_DISABLED) {
+    else {
         data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
     }
 
@@ -134,11 +132,9 @@ void ConfigRevoHWWidget::updateObjectsFromWidgets()
     // Otherwise disable UsbComBridge module.
     if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE || m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE ||
             m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_COMBRIDGE) {
-        if(data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] != HwSettings::OPTIONALMODULES_ENABLED) {
-            data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] = HwSettings::OPTIONALMODULES_ENABLED;
-        }
+        data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] = HwSettings::OPTIONALMODULES_ENABLED;
     }
-    else if(data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] != HwSettings::OPTIONALMODULES_DISABLED) {
+    else {
         data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] = HwSettings::OPTIONALMODULES_DISABLED;
     }
 
diff --git a/ground/openpilotgcs/src/plugins/config/images/revolution_top.png b/ground/openpilotgcs/src/plugins/config/images/revolution_top.png
index 633c424dfbe49ec5b8bdb963f54ad74416fa537f..a98e7e3773a8dc02e91aec7f5eaf0439c9436ae6 100644
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From 82a89700e1f30dc11a4e6f4f733c3453efbde9a7 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson 
Date: Mon, 4 Mar 2013 18:36:23 +0100
Subject: [PATCH 30/39] OP-864 Fixed sloppy errors (hopefully).

---
 .../src/plugins/coreplugin/mainwindow.cpp     | 35 +++++++++----------
 1 file changed, 16 insertions(+), 19 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index d21fe199d..837ec410c 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -268,7 +268,6 @@ void MainWindow::modeChanged(Core::IMode */*mode*/)
 void MainWindow::extensionsInitialized()
 {
     QSettings *qs = m_settings;
-    QSettings *settings;
     QString commandLine;
     if ( ! qs->allKeys().count() ) {
         foreach(QString str, qApp->arguments()) {
@@ -289,33 +288,31 @@ void MainWindow::extensionsInitialized()
 #endif
         directory.cd("default_configurations");
 
-        qDebug() << "Looking for default config files in: " + directory.absolutePath();
+        qDebug() << "Looking for configuration files in: " << directory.absolutePath();
 
         QString filename;
-        if(!commandLine.isEmpty()) {
-            if(QFile::exists(directory.absolutePath() + QDir::separator()+commandLine)) {
-                filename = directory.absolutePath() + QDir::separator()+commandLine;
-                qDebug() << "Load configuration from command line";
-                settings = new QSettings(filename, XmlConfig::XmlSettingsFormat);
-            }
-        }        
-        if(!QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
-            qDebug() << "Default config file " << directory.absolutePath() << QDir::separator() << DEFAULT_CONFIG_FILENAME << " was not found.";
+        if(!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
+            filename = directory.absolutePath() + QDir::separator() + commandLine;
+            qDebug() << "Configuration file " << filename << " specified on command line will be loaded.";
+        }
+        else if(QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
+            filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
+            qDebug() << "Default configuration file " << filename << " will be loaded.";
+        }
+        else {
+            qDebug() << "Default configuration file " << directory.absolutePath() << QDir::separator() << DEFAULT_CONFIG_FILENAME << " was not found.";
             importSettings *dialog = new importSettings(this);
             dialog->loadFiles(directory.absolutePath());
             dialog->exec();
             filename = dialog->choosenConfig();
-            settings = new QSettings(filename, XmlConfig::XmlSettingsFormat);
             delete dialog;
+            qDebug() << "Configuration file " << filename << " was selected and will be loaded.";
         }
-        else {
-            qDebug() << "Default config file " << directory.absolutePath() << QDir::separator() << DEFAULT_CONFIG_FILENAME << " was not loaded.";
-            settings = new QSettings(directory.absolutePath() + QDir::separator() +
-                                     DEFAULT_CONFIG_FILENAME, XmlConfig::XmlSettingsFormat);
-        }
-        qs = settings;
-        qDebug() << "Load default config from resource " << filename;
+
+        qs = new QSettings(filename, XmlConfig::XmlSettingsFormat);
+        qDebug() << "Configuration file " << filename << " was loaded.";
     }
+
     qs->beginGroup("General");
     m_config_description=qs->value("Description", "none").toString();
     m_config_details=qs->value("Details", "none").toString();

From b6746259c869adf470e5f47a67578c7cea0171b3 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson 
Date: Mon, 4 Mar 2013 20:38:16 +0100
Subject: [PATCH 31/39] OP-864 Fixed some debug logging cosmetic problems.

---
 .../src/plugins/coreplugin/mainwindow.cpp            | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index 837ec410c..4cc506ab8 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -288,29 +288,29 @@ void MainWindow::extensionsInitialized()
 #endif
         directory.cd("default_configurations");
 
-        qDebug() << "Looking for configuration files in: " << directory.absolutePath();
+        qDebug() << "Looking for configuration files in:" << directory.absolutePath();
 
         QString filename;
         if(!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
             filename = directory.absolutePath() + QDir::separator() + commandLine;
-            qDebug() << "Configuration file " << filename << " specified on command line will be loaded.";
+            qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
         }
         else if(QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
             filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
-            qDebug() << "Default configuration file " << filename << " will be loaded.";
+            qDebug() << "Default configuration file" << filename << "will be loaded.";
         }
         else {
-            qDebug() << "Default configuration file " << directory.absolutePath() << QDir::separator() << DEFAULT_CONFIG_FILENAME << " was not found.";
+            qDebug() << "Default configuration file " << directory.absolutePath() << QDir::separator() << DEFAULT_CONFIG_FILENAME << "was not found.";
             importSettings *dialog = new importSettings(this);
             dialog->loadFiles(directory.absolutePath());
             dialog->exec();
             filename = dialog->choosenConfig();
             delete dialog;
-            qDebug() << "Configuration file " << filename << " was selected and will be loaded.";
+            qDebug() << "Configuration file" << filename << "was selected and will be loaded.";
         }
 
         qs = new QSettings(filename, XmlConfig::XmlSettingsFormat);
-        qDebug() << "Configuration file " << filename << " was loaded.";
+        qDebug() << "Configuration file" << filename << "was loaded.";
     }
 
     qs->beginGroup("General");

From 1d9deae77dd3662382cd76d8e6b14e0fbcfe87be Mon Sep 17 00:00:00 2001
From: Philippe Renon 
Date: Wed, 6 Mar 2013 22:01:05 +0100
Subject: [PATCH 32/39] OP-682 fixed regression that prevented uploading of
 valid fw + renamed youdont check box to confirmCheckBox + minor cleanups

---
 .../src/plugins/uploader/devicewidget.cpp     | 63 +++++++++----------
 .../src/plugins/uploader/devicewidget.h       |  4 +-
 .../src/plugins/uploader/devicewidget.ui      |  4 +-
 3 files changed, 33 insertions(+), 38 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
index 86504824f..081a847c2 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
@@ -35,12 +35,12 @@ deviceWidget::deviceWidget(QWidget *parent) :
     // Initialization of the Device icon display
     myDevice->verticalGroupBox_loaded->setVisible(false);
     myDevice->groupCustom->setVisible(false);
-    myDevice->youdont->setVisible(false);
+    myDevice->confirmCheckBox->setVisible(false);
     myDevice->gVDevice->setScene(new QGraphicsScene(this));
     connect(myDevice->retrieveButton, SIGNAL(clicked()), this, SLOT(downloadFirmware()));
     connect(myDevice->updateButton, SIGNAL(clicked()), this, SLOT(uploadFirmware()));
     connect(myDevice->pbLoad, SIGNAL(clicked()), this, SLOT(loadFirmware()));
-    connect(myDevice->youdont, SIGNAL(stateChanged(int)), this, SLOT(confirmCB(int)));
+    connect(myDevice->confirmCheckBox, SIGNAL(stateChanged(int)), this, SLOT(confirmCB(int)));
     QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
     myDevice->statusIcon->setPixmap(pix);
 
@@ -151,17 +151,17 @@ void deviceWidget::updateButtons(bool enabled)
     if (!enabled) {
         myDevice->description->setEnabled(false);
         myDevice->pbLoad->setEnabled(false);
-        myDevice->youdont->setEnabled(false);
+        myDevice->confirmCheckBox->setEnabled(false);
         myDevice->updateButton->setEnabled(false);
         myDevice->retrieveButton->setEnabled(false);
     }
     else {
         myDevice->description->setEnabled(true);
-        // Load button (i.e. chose file) is always enabled
+        // Load button (i.e. choose file) is always enabled
         myDevice->pbLoad->setEnabled(true);
-        myDevice->youdont->setEnabled(true);
-        // Update/Upload button is enabled if a file has be selected and the "You know what your doing" check box is checked
-        myDevice->updateButton->setEnabled(myDevice->youdont->isVisible() && myDevice->youdont->checkState() == Qt::Checked);
+        myDevice->confirmCheckBox->setEnabled(true);
+        // Update/Upload button is enabled if the "I know what I'm doing!" check box is checked
+        myDevice->updateButton->setEnabled(myDevice->confirmCheckBox->checkState() == Qt::Checked);
         // Retreive/Download button is always enabled
         myDevice->retrieveButton->setEnabled(true);
     }
@@ -275,6 +275,9 @@ void deviceWidget::loadFirmware()
 
     filename = setOpenFileName();
 
+    myDevice->confirmCheckBox->setVisible(false);
+    myDevice->confirmCheckBox->setChecked(false);
+
     if (filename.isEmpty()) {
         status("Empty filename", STATUSICON_FAIL);
         return;
@@ -287,52 +290,42 @@ void deviceWidget::loadFirmware()
     }
 
     loadedFW = file.readAll();
-    myDevice->youdont->setVisible(false);
-    myDevice->youdont->setChecked(false);
+
     QByteArray desc = loadedFW.right(100);
     QPixmap px;
-    if(loadedFW.length()>m_dfu->devices[deviceID].SizeOfCode)
+    if (loadedFW.length()>m_dfu->devices[deviceID].SizeOfCode) {
         myDevice->lblCRCL->setText(tr("Can't calculate, file too big for device"));
-    else
+    }
+    else {
         myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
+    }
     //myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
     if (populateLoadedStructuredDescription(desc))
     {
-        myDevice->youdont->setChecked(true);
+        myDevice->confirmCheckBox->setChecked(true);
         myDevice->verticalGroupBox_loaded->setVisible(true);
         myDevice->groupCustom->setVisible(false);
-        if(myDevice->lblCRC->text()==myDevice->lblCRCL->text())
-        {
-            myDevice->statusLabel->setText(tr("The board has the same firmware as loaded. No need to update"));
+        if (myDevice->lblCRC->text() == myDevice->lblCRCL->text()) {
+            myDevice->statusLabel->setText(tr("The board has the same firmware as loaded. No need to update."));
             px.load(QString(":/uploader/images/warning.svg"));
-        }
-        else if(myDevice->lblDevName->text()!=myDevice->lblBrdNameL->text())
-        {
+        } else if (myDevice->lblDevName->text() != myDevice->lblBrdNameL->text()) {
             myDevice->statusLabel->setText(tr("WARNING: the loaded firmware is for different hardware. Do not update!"));
             px.load(QString(":/uploader/images/error.svg"));
-        }
-        else if(QDateTime::fromString(onBoardDescription.gitDate)>QDateTime::fromString(LoadedDescription.gitDate))
-        {
+        } else if (QDateTime::fromString(onBoardDescription.gitDate) > QDateTime::fromString(LoadedDescription.gitDate)) {
             myDevice->statusLabel->setText(tr("The board has newer firmware than loaded. Are you sure you want to update?"));
             px.load(QString(":/uploader/images/warning.svg"));
-        }
-        else if(!LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
-        {
-            myDevice->statusLabel->setText(tr("The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)"));
+        } else if (!LoadedDescription.gitTag.startsWith("RELEASE", Qt::CaseSensitive)) {
+            myDevice->statusLabel->setText(tr("The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)."));
             px.load(QString(":/uploader/images/warning.svg"));
-        }
-        else
-        {
-            myDevice->statusLabel->setText(tr("This is the tagged officially released OpenPilot firmware"));
+        } else {
+            myDevice->statusLabel->setText(tr("This is the tagged officially released OpenPilot firmware."));
             px.load(QString(":/uploader/images/gtk-info.svg"));
         }
-    }
-    else
-    {
-        myDevice->statusLabel->setText(tr("WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing"));
+    } else {
+        myDevice->statusLabel->setText(tr("WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing."));
         px.load(QString(":/uploader/images/error.svg"));
-        myDevice->youdont->setChecked(false);
-        myDevice->youdont->setVisible(true);
+        myDevice->confirmCheckBox->setChecked(false);
+        myDevice->confirmCheckBox->setVisible(true);
         myDevice->verticalGroupBox_loaded->setVisible(false);
         myDevice->groupCustom->setVisible(true);
     }
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
index 2c47cbfa2..bc44b8883 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
@@ -49,7 +49,7 @@ class UPLOADER_EXPORT deviceWidget : public QWidget
 {
     Q_OBJECT
 public:
-    deviceWidget( QWidget *parent = 0);
+    deviceWidget(QWidget *parent = 0);
     void setDeviceID(int devID);
     void setDfu(DFUObject* dfu);
     void populate();
@@ -57,6 +57,7 @@ public:
     typedef enum { STATUSICON_OK, STATUSICON_RUNNING, STATUSICON_FAIL, STATUSICON_INFO} StatusIcon;
     QString setOpenFileName();
     QString setSaveFileName();
+
 private:
     deviceDescriptorStruct onBoardDescription;
     deviceDescriptorStruct LoadedDescription;
@@ -78,6 +79,7 @@ signals:
     void uploadEnded(bool success);
     void downloadStarted();
     void downloadEnded(bool success);
+
 public slots:
     void uploadFirmware();
     void loadFirmware();
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
index 4fea11eb5..b7c7849da 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
@@ -101,9 +101,9 @@
                
               
               
-               
+               
                 
-                 I know what I'm doing
+                 I know what I'm doing!
                 
                 
                  true

From 99096ff9365ae0f4c81df8677deceb4d3d92980a Mon Sep 17 00:00:00 2001
From: sambas 
Date: Sat, 10 Nov 2012 10:01:31 +0200
Subject: [PATCH 33/39] Servo Out 6 fix

---
 flight/board_hw_defs/revomini/board_hw_defs.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/board_hw_defs/revomini/board_hw_defs.c b/flight/board_hw_defs/revomini/board_hw_defs.c
index 7375d367a..538131b91 100644
--- a/flight/board_hw_defs/revomini/board_hw_defs.c
+++ b/flight/board_hw_defs/revomini/board_hw_defs.c
@@ -1281,13 +1281,13 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
 		.pin = {
 			.gpio = GPIOA,
 			.init = {
-				.GPIO_Pin = GPIO_Pin_1,
+				.GPIO_Pin = GPIO_Pin_0,
 				.GPIO_Speed = GPIO_Speed_2MHz,
 				.GPIO_Mode  = GPIO_Mode_AF,
 				.GPIO_OType = GPIO_OType_PP,
 				.GPIO_PuPd  = GPIO_PuPd_UP
 			},
-			.pin_source = GPIO_PinSource1,
+			.pin_source = GPIO_PinSource0,
 		},
 		.remap = GPIO_AF_TIM5,
 	},

From 98e12d192a8d7d9b7f93c7d0a03ece8af5ddc1b8 Mon Sep 17 00:00:00 2001
From: Kevin Vertucio 
Date: Fri, 8 Mar 2013 11:25:57 -0500
Subject: [PATCH 34/39] removed extraneous commented code

Signed-off-by: Kevin Vertucio 
---
 .../openpilotgcs/src/plugins/coreplugin/CREDITS.html   |  2 +-
 .../openpilotgcs/src/plugins/coreplugin/mainwindow.cpp | 10 ++++------
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html b/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html
index 06d0e8754..a71f7570a 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html
+++ b/ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html
@@ -4,7 +4,7 @@
 	pre { font-family: Helvetica, Arial, "MS Trebuchet", sans-serif; }
 
 
-
This is a credits file of people that are or have been key contributors to the OpenPilot project. Without the work of the people in this list OpenPilot would not be what it is today.

+
This is a credits file of people that are or have been key contributors to the OpenPilot project. Without the work of the people in this list, OpenPilot would not be what it is today.

 
 
This list is sorted alphabetically by name

 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index f17b5f703..be0b26030 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -795,15 +795,13 @@ void MainWindow::registerDefaultActions()
 
     // About GCS Action
 #ifdef Q_WS_MAC
-    // tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS"), this); // it's convention not to add dots to the about menu
+
 #else
-    // tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS..."), this);
+
 #endif
-    // cmd = am->registerAction(tmpaction, Constants::ABOUT_OPENPILOTGCS, m_globalContext);
-    // mhelp->addAction(cmd, Constants::G_HELP_ABOUT);
-    // tmpaction->setEnabled(true);
+
 #ifdef Q_WS_MAC
-    // cmd->action()->setMenuRole(QAction::ApplicationSpecificRole);
+
 #endif
     connect(tmpaction, SIGNAL(triggered()), this,  SLOT(aboutOpenPilotGCS()));
 

From f1214df633d8cbd19ddf42036541ea27fdf722d0 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov 
Date: Sun, 10 Mar 2013 00:57:41 +0200
Subject: [PATCH 35/39] OP-792: Remove unused yet GUI in addition to flight
 modes

This reverts commit 0e9d7137ff671ee9ec44f59914ba1d695a4139b0.

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

OP-792 #comment Now this feature is removed from GUI too
---
 .../openpilotgcs/src/plugins/config/config.pro   | 16 +++-------------
 .../src/plugins/config/configgadgetwidget.cpp    |  7 -------
 .../src/plugins/config/configgadgetwidget.h      |  2 +-
 3 files changed, 4 insertions(+), 21 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro
index 0bb6cdbcc..af6f3e1ed 100644
--- a/ground/openpilotgcs/src/plugins/config/config.pro
+++ b/ground/openpilotgcs/src/plugins/config/config.pro
@@ -38,8 +38,7 @@ HEADERS += configplugin.h \
     configrevowidget.h \
     config_global.h \
     mixercurve.h \
-    dblspindelegate.h \
-    configautotunewidget.h
+    dblspindelegate.h
 SOURCES += configplugin.cpp \
     configgadgetconfiguration.cpp \
     configgadgetwidget.cpp \
@@ -72,8 +71,7 @@ SOURCES += configplugin.cpp \
     outputchannelform.cpp \
     cfg_vehicletypes/vehicleconfig.cpp \
     mixercurve.cpp \
-    dblspindelegate.cpp \
-    configautotunewidget.cpp
+    dblspindelegate.cpp
 FORMS += airframe.ui \
     cc_hw_settings.ui \
     pro_hw_settings.ui \
@@ -90,13 +88,5 @@ FORMS += airframe.ui \
     revosensors.ui \
     txpid.ui \
     pipxtreme.ui \
-    mixercurve.ui \
-    autotune.ui
+    mixercurve.ui
 RESOURCES += configgadget.qrc
-
-
-
-
-
-
-
diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
index 6aea1ce17..ad2b9ed8a 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
@@ -32,7 +32,6 @@
 #include "configinputwidget.h"
 #include "configoutputwidget.h"
 #include "configstabilizationwidget.h"
-#include "configautotunewidget.h"
 #include "configcamerastabilizationwidget.h"
 #include "configtxpidwidget.h"
 #include "config_pro_hw_widget.h"
@@ -103,12 +102,6 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     qwd = new ConfigStabilizationWidget(this);
     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, *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);
diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
index 304c557b4..24209e1cf 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
@@ -48,7 +48,7 @@ class ConfigGadgetWidget: public QWidget
 public:
     ConfigGadgetWidget(QWidget *parent = 0);
     ~ConfigGadgetWidget();
-    enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, oplink, autotune};
+    enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, oplink};
     void startInputWizard();
 
 public slots:

From e0bd933baab5f77dbac32492a6518f3fad7d7118 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson 
Date: Sun, 10 Mar 2013 18:51:15 +0100
Subject: [PATCH 36/39] OP-856 Changed USB GUI. Changed the rules for
 validation of configurations.

---
 .../src/plugins/config/configrevohwwidget.cpp |  90 +--
 .../src/plugins/config/configrevohwwidget.h   |   4 +-
 .../src/plugins/config/configrevohwwidget.ui  | 528 ++++++++++--------
 3 files changed, 349 insertions(+), 273 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
index 52b03f926..6564819a7 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
@@ -82,9 +82,8 @@ ConfigRevoHWWidget::~ConfigRevoHWWidget()
 
 void ConfigRevoHWWidget::setupCustomCombos()
 {
-    m_ui->cbUSBType->addItem(tr("HID"), USB_HID);
-    m_ui->cbUSBType->addItem(tr("VCP"), USB_VCP);
-    connect(m_ui->cbUSBType, SIGNAL(currentIndexChanged(int)), this, SLOT(usbTypeChanged(int)));
+    connect(m_ui->cbUSBHIDFunction, SIGNAL(currentIndexChanged(int)), this, SLOT(usbHIDPortChanged(int)));
+    connect(m_ui->cbUSBVCPFunction, SIGNAL(currentIndexChanged(int)), this, SLOT(usbVCPPortChanged(int)));
 
     m_ui->cbSonar->addItem(tr("Disabled"));
     m_ui->cbSonar->setCurrentIndex(0);
@@ -99,15 +98,7 @@ void ConfigRevoHWWidget::setupCustomCombos()
 void ConfigRevoHWWidget::refreshWidgetsValues(UAVObject *obj)
 {
     ConfigTaskWidget::refreshWidgetsValues(obj);
-    HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
-    HwSettings::DataFields data = hwSettings->getData();
-    if(data.USB_HIDPort != HwSettings::USB_HIDPORT_DISABLED){
-        m_ui->cbUSBType->setCurrentIndex(m_ui->cbUSBType->findData(USB_HID));
-    }
-    else {
-        m_ui->cbUSBType->setCurrentIndex(m_ui->cbUSBType->findData(USB_VCP));
-    }
-    usbTypeChanged(m_ui->cbUSBType->currentIndex());
+    usbVCPPortChanged(0);
     mainPortChanged(0);
     flexiPortChanged(0);
 }
@@ -141,39 +132,56 @@ void ConfigRevoHWWidget::updateObjectsFromWidgets()
     hwSettings->setData(data);
 }
 
-void ConfigRevoHWWidget::usbTypeChanged(int index)
+void ConfigRevoHWWidget::usbVCPPortChanged(int index)
 {
     Q_UNUSED(index);
 
-    bool hid = m_ui->cbUSBType->itemData(m_ui->cbUSBType->currentIndex()) == USB_HID;
-    m_ui->cbUSBHIDFunction->setVisible(hid);
-    m_ui->cbUSBVCPFunction->setVisible(!hid);
+    bool vcpComBridgeEnabled = m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_COMBRIDGE;
 
-    m_ui->lblUSBVCPSpeed->setVisible(!hid);
-    m_ui->cbUSBVCPSpeed->setVisible(!hid);
+    m_ui->lblUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
+    m_ui->cbUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
 
-    if(hid){
-        m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
-        m_ui->cbUSBHIDFunction->setCurrentIndex(HwSettings::USB_HIDPORT_USBTELEMETRY);
-    }
-    else {
-        m_ui->cbUSBHIDFunction->setCurrentIndex(HwSettings::USB_HIDPORT_DISABLED);
-        m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_USBTELEMETRY);
-    }
-
-    if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
+    if(!vcpComBridgeEnabled && m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
         m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
     }
     m_ui->cbFlexi->model()->setData(m_ui->cbFlexi->model()->index(HwSettings::RM_FLEXIPORT_COMBRIDGE, 0),
-                                    hid ? QVariant(0) : QVariant(1|32), Qt::UserRole - 1);
+                                    !vcpComBridgeEnabled ? QVariant(0) : QVariant(1|32), Qt::UserRole - 1);
 
-    if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
+    if(!vcpComBridgeEnabled && m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
         m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
     }
     m_ui->cbMain->model()->setData(m_ui->cbMain->model()->index(HwSettings::RM_MAINPORT_COMBRIDGE, 0),
-                                   hid ? QVariant(0) : QVariant(1|32), Qt::UserRole - 1);
+                                   !vcpComBridgeEnabled ? QVariant(0) : QVariant(1|32), Qt::UserRole - 1);
+
+    //_DEBUGCONSOLE modes are mutual exclusive
+    if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
+        if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_DEBUGCONSOLE) {
+            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        }
+        if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_DEBUGCONSOLE) {
+            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+    }
+
+    //_USBTELEMETRY modes are mutual exclusive
+    if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY) {
+        if(m_ui->cbUSBHIDFunction->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) {
+            m_ui->cbUSBHIDFunction->setCurrentIndex(HwSettings::USB_HIDPORT_DISABLED);
+        }
+    }
 }
 
+void ConfigRevoHWWidget::usbHIDPortChanged(int index)
+{
+    Q_UNUSED(index);
+
+    //_USBTELEMETRY modes are mutual exclusive
+    if(m_ui->cbUSBHIDFunction->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) {
+        if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY) {
+            m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+        }
+    }
+}
 
 void ConfigRevoHWWidget::flexiPortChanged(int index)
 {
@@ -207,10 +215,19 @@ void ConfigRevoHWWidget::flexiPortChanged(int index)
                 m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
             }
             break;
+        case HwSettings::RM_FLEXIPORT_DEBUGCONSOLE:
+            m_ui->cbFlexiComSpeed->setVisible(true);
+            if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_DEBUGCONSOLE) {
+                m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+            }
+            if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
+                m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+            }
+            break;
         default:
             m_ui->lblFlexiSpeed->setVisible(false);
             break;
-    }
+        }
 }
 
 void ConfigRevoHWWidget::mainPortChanged(int index)
@@ -245,6 +262,15 @@ void ConfigRevoHWWidget::mainPortChanged(int index)
                 m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
             }
             break;
+        case HwSettings::RM_MAINPORT_DEBUGCONSOLE:
+            m_ui->cbMainComSpeed->setVisible(true);
+            if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_DEBUGCONSOLE) {
+                m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+            }
+            if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
+                m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+            }
+            break;
         default:
             m_ui->lblMainSpeed->setVisible(false);
             break;
diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h
index 6615411d5..7e6ed51f4 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.h
@@ -45,7 +45,6 @@ public:
     ~ConfigRevoHWWidget();
 
 private:
-    enum {USB_HID, USB_VCP};
     Ui_RevoHWWidget *m_ui;
     void setupCustomCombos();
 
@@ -54,7 +53,8 @@ protected slots:
     void updateObjectsFromWidgets();
 
 private slots:
-    void usbTypeChanged(int index);
+    void usbVCPPortChanged(int index);
+    void usbHIDPortChanged(int index);
     void flexiPortChanged(int index);
     void mainPortChanged(int index);
     void modemPortChanged(int index);
diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
index b78c40975..199d2e817 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
@@ -119,34 +119,99 @@
             12
            
            
-            
-             
-              
-               
-                Qt::Horizontal
+            
+             
+              
+               
+                
+                 0
+                 0
+                
                
-               
-                QSizePolicy::Minimum
-               
-               
-                
-                 120
-                 10
-                
-               
-              
-             
-             
-              
                
-                Sonar Port
+                USB VCP Function
                
                
-                Qt::AlignCenter
+                Qt::AlignBottom|Qt::AlignHCenter
                
               
              
-             
+             
+              
+               
+                Speed
+               
+               
+                Qt::AlignBottom|Qt::AlignHCenter
+               
+              
+             
+             
+              
+               
+                false
+               
+              
+             
+             
+              
+               
+                
+                 0
+                 0
+                
+               
+               
+                Speed
+               
+               
+                Qt::AlignBottom|Qt::AlignHCenter
+               
+              
+             
+             
+              
+             
+             
+              
+             
+             
+              
+               
+                
+                 0
+                 0
+                
+               
+               
+                USB HID Function
+               
+               
+                Qt::AlignBottom|Qt::AlignHCenter
+               
+              
+             
+             
+              
+             
+             
+              
+               
+                true
+               
+              
+             
+             
+              
+               
+                Main Port
+               
+               
+                Qt::AlignBottom|Qt::AlignHCenter
+               
+              
+             
+             
               
                
                 Qt::Horizontal
@@ -162,8 +227,58 @@
                
               
              
-             
-              
+             
+              
+               
+                Qt::Horizontal
+               
+               
+                QSizePolicy::Minimum
+               
+               
+                
+                 120
+                 10
+                
+               
+              
+             
+             
+              
+               
+                
+                 0
+                 0
+                
+               
+               
+                
+                 350
+                 350
+                
+               
+               
+                
+               
+               
+                :/configgadget/images/revolution_top.png
+               
+               
+                false
+               
+               
+                Qt::AlignCenter
+               
+               
+                Qt::NoTextInteraction
+               
+              
+             
+             
+              
+             
+             
+              
                
                 
                  0
@@ -171,26 +286,121 @@
                 
                
                
-                USB Function
+                Sonar Port
                
                
                 Qt::AlignBottom|Qt::AlignHCenter
                
               
              
-             
-              
-               
-                Main Port
-               
-               
-                Qt::AlignBottom|Qt::AlignHCenter
-               
-              
-             
-             
+             
               
              
+             
+              
+               
+                0
+               
+               
+                
+                 
+                  true
+                 
+                
+               
+               
+                
+               
+               
+                
+               
+              
+             
+             
+              
+               
+                Qt::Horizontal
+               
+               
+                QSizePolicy::Minimum
+               
+               
+                
+                 120
+                 10
+                
+               
+              
+             
+             
+              
+               
+                Flexi Port
+               
+               
+                Qt::AlignBottom|Qt::AlignHCenter
+               
+              
+             
+             
+              
+               
+                0
+               
+               
+                
+                 
+                  true
+                 
+                
+               
+               
+                
+               
+               
+                
+               
+              
+             
+             
+              
+             
+             
+              
+               
+                Radio
+               
+               
+                Qt::AlignBottom|Qt::AlignHCenter
+               
+              
+             
+             
+              
+               
+                Speed
+               
+               
+                Qt::AlignBottom|Qt::AlignHCenter
+               
+              
+             
+             
+              
+               
+                Qt::Horizontal
+               
+               
+                QSizePolicy::Minimum
+               
+               
+                
+                 120
+                 10
+                
+               
+              
+             
              
               
                
@@ -239,199 +449,7 @@
                
               
              
-             
-              
-               
-                
-                 0
-                 0
-                
-               
-               
-                
-                 350
-                 350
-                
-               
-               
-                
-               
-               
-                :/configgadget/images/revolution_top.png
-               
-               
-                false
-               
-               
-                Qt::AlignCenter
-               
-               
-                Qt::NoTextInteraction
-               
-              
-             
-             
-              
-               
-                
-                 0
-                 0
-                
-               
-               
-                USB Port
-               
-               
-                Qt::AlignBottom|Qt::AlignHCenter
-               
-              
-             
-             
-              
-             
-             
-              
-             
-             
-              
-               
-                Speed
-               
-               
-                Qt::AlignBottom|Qt::AlignHCenter
-               
-              
-             
-             
-              
-               
-                false
-               
-              
-             
-             
-              
-               
-                Speed
-               
-               
-                Qt::AlignBottom|Qt::AlignHCenter
-               
-              
-             
-             
-              
-             
-             
-              
-             
-             
-              
-               
-                Radio
-               
-               
-                Qt::AlignCenter
-               
-              
-             
-             
-              
-               
-                Flexi Port
-               
-               
-                Qt::AlignBottom|Qt::AlignHCenter
-               
-              
-             
-             
-              
-               
-                Qt::Horizontal
-               
-               
-                QSizePolicy::Minimum
-               
-               
-                
-                 120
-                 10
-                
-               
-              
-             
-             
-              
-               
-                Speed
-               
-               
-                Qt::AlignBottom|Qt::AlignHCenter
-               
-              
-             
-             
-              
-               
-                0
-               
-               
-                
-                 
-                  true
-                 
-                
-               
-               
-                
-               
-               
-                
-               
-              
-             
-             
-              
-               
-                0
-               
-               
-                
-                 
-                  true
-                 
-                
-               
-               
-                
-               
-               
-                
-               
-              
-             
-             
-              
-               
-                true
-               
-              
-             
-             
-              
-               
-                0
-               
-               
-                
-               
-               
-                
-               
-              
-             
-             
+             
               
                
                 Qt::Horizontal
@@ -447,7 +465,7 @@
                
               
              
-             
+             
               
                
                 Qt::Horizontal
@@ -463,18 +481,34 @@
                
               
              
-             
-              
+             
+              
                
-                Qt::Horizontal
+                Qt::Vertical
                
                
-                QSizePolicy::Minimum
+                QSizePolicy::Fixed
                
                
                 
-                 120
-                 10
+                 20
+                 13
+                
+               
+              
+             
+             
+              
+               
+                Qt::Vertical
+               
+               
+                QSizePolicy::Fixed
+               
+               
+                
+                 20
+                 20
                 
                
               
@@ -485,12 +519,12 @@
                 Qt::Vertical
                
                
-                QSizePolicy::Minimum
+                QSizePolicy::Fixed
                
                
                 
                  20
-                 16
+                 13
                 
                
               
@@ -501,12 +535,28 @@
                 Qt::Vertical
                
                
-                QSizePolicy::Minimum
+                QSizePolicy::Fixed
                
                
                 
                  20
-                 22
+                 20
+                
+               
+              
+             
+             
+              
+               
+                Qt::Vertical
+               
+               
+                QSizePolicy::Fixed
+               
+               
+                
+                 20
+                 13
                 
                
               

From fcbfb53a8799196a38b554a2e8d76a0e38451a90 Mon Sep 17 00:00:00 2001
From: Alessio Morale 
Date: Sun, 10 Mar 2013 21:03:40 +0100
Subject: [PATCH 37/39] Bootloader error visualization: Fixed
 indentation/spaces

+review OPReview-400
---
 flight/Bootloaders/BootloaderUpdater/main.c | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/flight/Bootloaders/BootloaderUpdater/main.c b/flight/Bootloaders/BootloaderUpdater/main.c
index d1fbc1666..ff803f4a6 100644
--- a/flight/Bootloaders/BootloaderUpdater/main.c
+++ b/flight/Bootloaders/BootloaderUpdater/main.c
@@ -34,7 +34,7 @@
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
-void error(int,int);
+void error(int, int);
 
 /* The ADDRESSES of the _binary_* symbols are the important
  * data.  This is non-intuitive for _binary_size where you
@@ -58,7 +58,7 @@ int main() {
 	/// Self overwrite check
 	uint32_t base_address = SCB->VTOR;
 	if ((0x08000000 + embedded_image_size) > base_address)
-		error(PIOS_LED_HEARTBEAT,1);
+		error(PIOS_LED_HEARTBEAT, 1);
 	///
 
 	/*
@@ -80,7 +80,7 @@ int main() {
 	if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
 		(pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
 		(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
-		error(PIOS_LED_HEARTBEAT,2);
+		error(PIOS_LED_HEARTBEAT, 2);
 	}
 
 	/* Embedded bootloader looks like it's the right one for this HW, proceed... */
@@ -108,7 +108,7 @@ int main() {
 	}
 
 	if (fail == true)
-		error(PIOS_LED_HEARTBEAT,3);
+		error(PIOS_LED_HEARTBEAT, 3);
 
 
 	///
@@ -124,7 +124,7 @@ int main() {
 			}
 		}
 		if (result == false)
-			error(PIOS_LED_HEARTBEAT,4);
+			error(PIOS_LED_HEARTBEAT, 4);
 	}
 	///
 	for (uint8_t x = 0; x < 3; ++x) {
@@ -145,11 +145,11 @@ int main() {
 
 }
 
-void error(int led,int code) {
+void error(int led, int code) {
 	for(;;)
 	{
 		PIOS_DELAY_WaitmS(1000);
-		for (int x=0;x
Date: Sun, 10 Mar 2013 23:41:34 +0100
Subject: [PATCH 38/39] Bootloader error visualization: Fixed
 indentation/spaces/2

+review OPReview-400
---
 flight/Bootloaders/BootloaderUpdater/main.c | 29 ++++++++++-----------
 1 file changed, 14 insertions(+), 15 deletions(-)

diff --git a/flight/Bootloaders/BootloaderUpdater/main.c b/flight/Bootloaders/BootloaderUpdater/main.c
index ff803f4a6..ff2c5ae2e 100644
--- a/flight/Bootloaders/BootloaderUpdater/main.c
+++ b/flight/Bootloaders/BootloaderUpdater/main.c
@@ -47,7 +47,8 @@ const uint32_t * embedded_image_start = (uint32_t *) &(_binary_start);
 const uint32_t * embedded_image_end   = (uint32_t *) &(_binary_end);
 const uint32_t   embedded_image_size  = (uint32_t)   &(_binary_size);
 
-int main() {
+int main()
+{
 
 	PIOS_SYS_Init();
 	PIOS_Board_Init();
@@ -70,7 +71,7 @@ int main() {
 	 */
 
 	/* Calculate how far the board_info_blob is from the beginning of the bootloader */
-	uint32_t board_info_blob_offset = (uint32_t)&pios_board_info_blob - (uint32_t)0x08000000;
+	uint32_t board_info_blob_offset = (uint32_t) &pios_board_info_blob - (uint32_t)0x08000000;
 
 	/* Use the same offset into our embedded bootloader image */
 	struct pios_board_info * new_board_info_blob = (struct pios_board_info *)
@@ -114,13 +115,13 @@ int main() {
 	///
 
 	/// Bootloader programing
-	for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
+	for (uint32_t offset = 0; offset < embedded_image_size / sizeof(uint32_t); ++offset) {
 		bool result = false;
 		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 		for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
 			if (result == false) {
 				result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
-						== FLASH_COMPLETE) ? true : false;
+					== FLASH_COMPLETE) ? true : false;
 			}
 		}
 		if (result == false)
@@ -128,10 +129,10 @@ int main() {
 	}
 	///
 	for (uint8_t x = 0; x < 3; ++x) {
-			PIOS_LED_On(PIOS_LED_HEARTBEAT);
-			PIOS_DELAY_WaitmS(1000);
-			PIOS_LED_Off(PIOS_LED_HEARTBEAT);
-			PIOS_DELAY_WaitmS(1000);
+		PIOS_LED_On(PIOS_LED_HEARTBEAT);
+		PIOS_DELAY_WaitmS(1000);
+		PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+		PIOS_DELAY_WaitmS(1000);
 	}
 
 	/// Invalidate the bootloader updater so we won't run
@@ -145,20 +146,18 @@ int main() {
 
 }
 
-void error(int led, int code) {
-	for(;;)
-	{
+void error(int led, int code)
+{
+	for (;;) {
 		PIOS_DELAY_WaitmS(1000);
-		for (int x=0; x
Date: Mon, 11 Mar 2013 15:35:08 -0400
Subject: [PATCH 39/39] added autogenerated version info file

Signed-off-by: Kevin Vertucio 
---
 ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp
index 2b631fa05..0978a4638 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/authorsdialog.cpp
@@ -28,6 +28,8 @@
 
 #include "authorsdialog.h"
 
+// autogenerated version info string
+#include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
 #include "coreconstants.h"
 #include "icore.h"