Merge remote-tracking branch 'origin/next' into laurent/OP-1337_French_translations_updates

ground/openpilotgcs/src/plugins/config/airframe_custom.ui

@@ -138,6 +138,12 @@
        <property name="columnCount">
         <number>12</number>
        </property>
+       <property name="editTriggers">
+        <set>QAbstractItemView::NoEditTriggers</set>
+       </property>
+       <property name="selectionMode">
+        <enum>QAbstractItemView::NoSelection</enum>
+       </property>
        <attribute name="horizontalHeaderDefaultSectionSize">
         <number>50</number>
        </attribute>

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp

@@ -1,13 +1,13 @@
 /**
  ******************************************************************************
  *
- * @file       configmultirotorwidget.cpp
+ * @file       configcustomwidget.cpp
  * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup ConfigPlugin Config Plugin
  * @{
- * @brief ccpm configuration panel
+ * @brief custom configuration panel
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify
@@ -45,6 +45,84 @@ QStringList ConfigCustomWidget::getChannelDescriptions()
     for (int i = 0; i < (int)VehicleConfig::CHANNEL_NUMELEM; i++) {
         channelDesc.append(QString("-"));
     }
+    // get the gui config data
+    GUIConfigDataUnion configData  = getConfigData();
+    customGUISettingsStruct custom = configData.custom;
+
+    if (custom.Motor1 > 0 && custom.Motor1 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Motor1 - 1] = QString("Motor1");
+    }
+    if (custom.Motor2 > 0 && custom.Motor2 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Motor2 - 1] = QString("Motor2");
+    }
+    if (custom.Motor3 > 0 && custom.Motor3 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Motor3 - 1] = QString("Motor3");
+    }
+    if (custom.Motor4 > 0 && custom.Motor4 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Motor4 - 1] = QString("Motor4");
+    }
+    if (custom.Motor5 > 0 && custom.Motor5 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Motor5 - 1] = QString("Motor5");
+    }
+    if (custom.Motor6 > 0 && custom.Motor6 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Motor6 - 1] = QString("Motor6");
+    }
+    if (custom.Motor7 > 0 && custom.Motor7 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Motor7 - 1] = QString("Motor7");
+    }
+    if (custom.Motor8 > 0 && custom.Motor8 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Motor8 - 1] = QString("Motor8");
+    }
+
+    if (custom.RevMotor1 > 0 && custom.RevMotor1 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.RevMotor1 - 1] = QString("RevMotor1");
+    }
+    if (custom.RevMotor2 > 0 && custom.RevMotor2 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.RevMotor2 - 1] = QString("RevMotor2");
+    }
+    if (custom.RevMotor3 > 0 && custom.RevMotor3 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.RevMotor3 - 1] = QString("RevMotor3");
+    }
+    if (custom.RevMotor4 > 0 && custom.RevMotor4 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.RevMotor4 - 1] = QString("RevMotor4");
+    }
+    if (custom.RevMotor5 > 0 && custom.RevMotor5 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.RevMotor5 - 1] = QString("RevMotor5");
+    }
+    if (custom.RevMotor6 > 0 && custom.RevMotor6 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.RevMotor6 - 1] = QString("RevMotor6");
+    }
+    if (custom.RevMotor7 > 0 && custom.RevMotor7 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.RevMotor7 - 1] = QString("RevMotor7");
+    }
+    if (custom.RevMotor8 > 0 && custom.RevMotor8 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.RevMotor8 - 1] = QString("RevMotor8");
+    }
+
+    if (custom.Servo1 > 0 && custom.Servo1 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Servo1 - 1] = QString("Servo1");
+    }
+    if (custom.Servo2 > 0 && custom.Servo2 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Servo2 - 1] = QString("Servo2");
+    }
+    if (custom.Servo3 > 0 && custom.Servo3 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Servo3 - 1] = QString("Servo3");
+    }
+    if (custom.Servo4 > 0 && custom.Servo4 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Servo4 - 1] = QString("Servo4");
+    }
+    if (custom.Servo5 > 0 && custom.Servo5 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Servo5 - 1] = QString("Servo5");
+    }
+    if (custom.Servo6 > 0 && custom.Servo6 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Servo6 - 1] = QString("Servo6");
+    }
+    if (custom.Servo7 > 0 && custom.Servo7 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Servo7 - 1] = QString("Servo7");
+    }
+    if (custom.Servo8 > 0 && custom.Servo8 <= VehicleConfig::CHANNEL_NUMELEM) {
+        channelDesc[custom.Servo8 - 1] = QString("Servo8");
+    }
     return channelDesc;
 }
 
@@ -52,6 +130,7 @@ ConfigCustomWidget::ConfigCustomWidget(QWidget *parent) :
     VehicleConfig(parent), m_aircraft(new Ui_CustomConfigWidget())
 {
     m_aircraft->setupUi(this);
+    m_aircraft->customMixerTable->setEditTriggers(QAbstractItemView::NoEditTriggers);
 
     // Put combo boxes in line one of the custom mixer table:
     UAVDataObject *mixer  = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
@@ -93,7 +172,30 @@ void ConfigCustomWidget::registerWidgets(ConfigTaskWidget &parent)
 
 void ConfigCustomWidget::resetActuators(GUIConfigDataUnion *configData)
 {
-    Q_UNUSED(configData);
+    configData->custom.Motor1    = 0;
+    configData->custom.Motor2    = 0;
+    configData->custom.Motor3    = 0;
+    configData->custom.Motor4    = 0;
+    configData->custom.Motor5    = 0;
+    configData->custom.Motor6    = 0;
+    configData->custom.Motor7    = 0;
+    configData->custom.Motor8    = 0;
+    configData->custom.RevMotor1 = 0;
+    configData->custom.RevMotor2 = 0;
+    configData->custom.RevMotor3 = 0;
+    configData->custom.RevMotor4 = 0;
+    configData->custom.RevMotor5 = 0;
+    configData->custom.RevMotor6 = 0;
+    configData->custom.RevMotor7 = 0;
+    configData->custom.RevMotor8 = 0;
+    configData->custom.Servo1    = 0;
+    configData->custom.Servo2    = 0;
+    configData->custom.Servo3    = 0;
+    configData->custom.Servo4    = 0;
+    configData->custom.Servo5    = 0;
+    configData->custom.Servo6    = 0;
+    configData->custom.Servo7    = 0;
+    configData->custom.Servo8    = 0;
 }
 
 /**
@@ -105,9 +207,23 @@ void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
 
     setupUI(frameType);
 
+    UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
+    Q_ASSERT(system);
+    QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
+
+    // Do not allow table edit until AirframeType == Custom
+    // First save set AirframeType to 'Custom' and next modify.
+    if (field->getValue().toString() != "Custom") {
+        m_aircraft->customMixerTable->setEditTriggers(QAbstractItemView::NoEditTriggers);
+    } else {
+        m_aircraft->customMixerTable->setEditTriggers(QAbstractItemView::AllEditTriggers);
+    }
+
     UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
 
+    getChannelDescriptions();
+
     QList<double> curveValues;
     getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
 
@@ -162,11 +278,21 @@ void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
     }
 }
 
+
 /**
    Helper function to
  */
 QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
 {
+    UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
+
+    Q_ASSERT(system);
+
+    QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
+
+    // Do not allow changes until AirframeType == Custom
+    // If user want to save custom mixer : first set AirframeType to 'Custom' without changes and next modify.
+    if (field->getValue().toString() == "Custom") {
         UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
 
         Q_ASSERT(mixer);
@@ -174,6 +300,9 @@ QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
         setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
         setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
 
+        GUIConfigDataUnion configData = getConfigData();
+        resetActuators(&configData);
+
         // Update the table:
         for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
             QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel);
@@ -181,10 +310,61 @@ QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
                 setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
             } else if (q->currentText() == "Motor") {
                 setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
+                if (configData.custom.Motor1 == 0) {
+                    configData.custom.Motor1 = channel + 1;
+                } else if (configData.custom.Motor2 == 0) {
+                    configData.custom.Motor2 = channel + 1;
+                } else if (configData.custom.Motor3 == 0) {
+                    configData.custom.Motor3 = channel + 1;
+                } else if (configData.custom.Motor4 == 0) {
+                    configData.custom.Motor4 = channel + 1;
+                } else if (configData.custom.Motor5 == 0) {
+                    configData.custom.Motor5 = channel + 1;
+                } else if (configData.custom.Motor6 == 0) {
+                    configData.custom.Motor6 = channel + 1;
+                } else if (configData.custom.Motor7 == 0) {
+                    configData.custom.Motor7 = channel + 1;
+                } else if (configData.custom.Motor8 == 0) {
+                    configData.custom.Motor8 = channel + 1;
+                }
             } else if (q->currentText() == "ReversableMotor") {
                 setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
+                if (configData.custom.RevMotor1 == 0) {
+                    configData.custom.RevMotor1 = channel + 1;
+                } else if (configData.custom.RevMotor2 == 0) {
+                    configData.custom.RevMotor2 = channel + 1;
+                } else if (configData.custom.RevMotor3 == 0) {
+                    configData.custom.RevMotor3 = channel + 1;
+                } else if (configData.custom.RevMotor4 == 0) {
+                    configData.custom.RevMotor4 = channel + 1;
+                } else if (configData.custom.RevMotor5 == 0) {
+                    configData.custom.RevMotor5 = channel + 1;
+                } else if (configData.custom.RevMotor6 == 0) {
+                    configData.custom.RevMotor6 = channel;
+                } else if (configData.custom.RevMotor7 == 0) {
+                    configData.custom.RevMotor7 = channel;
+                } else if (configData.custom.RevMotor8 == 0) {
+                    configData.custom.RevMotor8 = channel;
+                }
             } else if (q->currentText() == "Servo") {
                 setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
+                if (configData.custom.Servo1 == 0) {
+                    configData.custom.Servo1 = channel + 1;
+                } else if (configData.custom.Servo2 == 0) {
+                    configData.custom.Servo2 = channel + 1;
+                } else if (configData.custom.Servo3 == 0) {
+                    configData.custom.Servo3 = channel + 1;
+                } else if (configData.custom.Servo4 == 0) {
+                    configData.custom.Servo4 = channel + 1;
+                } else if (configData.custom.Servo5 == 0) {
+                    configData.custom.Servo5 = channel + 1;
+                } else if (configData.custom.Servo6 == 0) {
+                    configData.custom.Servo6 = channel + 1;
+                } else if (configData.custom.Servo7 == 0) {
+                    configData.custom.Servo7 = channel + 1;
+                } else if (configData.custom.Servo8 == 0) {
+                    configData.custom.Servo8 = channel + 1;
+                }
             } else if (q->currentText() == "CameraRoll") {
                 setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL);
             } else if (q->currentText() == "CameraPitch") {
@@ -215,7 +395,8 @@ QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
             setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
                                 m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
         }
-
+        setConfigData(configData);
+    }
     return "Custom";
 }
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.h

@@ -1,13 +1,13 @@
 /**
  ******************************************************************************
  *
- * @file       configairframetwidget.h
+ * @file       configcustomwidget.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup ConfigPlugin Config Plugin
  * @{
- * @brief Airframe configuration panel
+ * @brief custom configuration panel
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp

@@ -1,13 +1,13 @@
 /**
  ******************************************************************************
  *
- * @file       configfixedwidget.cpp
+ * @file       configfixedwingwidget.cpp
  * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup ConfigPlugin Config Plugin
  * @{
- * @brief ccpm configuration panel
+ * @brief fixed wing configuration panel
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h

@@ -1,13 +1,13 @@
 /**
  ******************************************************************************
  *
- * @file       configairframetwidget.h
+ * @file       configfixedwingwidget.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup ConfigPlugin Config Plugin
  * @{
- * @brief Airframe configuration panel
+ * @brief fixed wing configuration panel
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp

@@ -7,7 +7,7 @@
  * @{
  * @addtogroup ConfigPlugin Config Plugin
  * @{
- * @brief ccpm configuration panel
+ * @brief ground vehicle configuration panel
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h

@@ -1,13 +1,13 @@
 /**
  ******************************************************************************
  *
- * @file       configairframetwidget.h
+ * @file       configgroundvehiclewidget.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup ConfigPlugin Config Plugin
  * @{
- * @brief Airframe configuration panel
+ * @brief ground vehicle configuration panel
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h

@@ -50,11 +50,10 @@ typedef struct {
     uint    VTOLMotorSSW : 4;
     uint    VTOLMotorWSW : 4;
     uint    VTOLMotorWNW : 4;
-    uint    VTOLMotorNNW : 4; // 32 bits
+    uint    VTOLMotorNNW : 4; // 64 bits
     uint    TRIYaw : 4;
-    quint32 padding : 28; // 64 bits
+    quint32 padding : 28; // 96 bits
-    quint32 padding1;
+    quint32 padding1; // 128 bits
-    quint32 padding2; // 128 bits
 } __attribute__((packed))  multiGUISettingsStruct;
 
 typedef struct {
@@ -102,12 +101,42 @@ typedef struct {
     quint32 padding3; // 128 bits
 } __attribute__((packed))  groundGUISettingsStruct;
 
+typedef struct {
+    uint    Motor1 : 4;
+    uint    Motor2 : 4;
+    uint    Motor3 : 4;
+    uint    Motor4 : 4;
+    uint    Motor5 : 4;
+    uint    Motor6 : 4;
+    uint    Motor7 : 4;
+    uint    Motor8 : 4;  // 32 bits
+    uint    Servo1 : 4;
+    uint    Servo2 : 4;
+    uint    Servo3 : 4;
+    uint    Servo4 : 4;
+    uint    Servo5 : 4;
+    uint    Servo6 : 4;
+    uint    Servo7 : 4;
+    uint    Servo8 : 4;  // 64 bits
+    uint    RevMotor1 : 4;
+    uint    RevMotor2 : 4;
+    uint    RevMotor3 : 4;
+    uint    RevMotor4 : 4;
+    uint    RevMotor5 : 4;
+    uint    RevMotor6 : 4;
+    uint    RevMotor7 : 4;
+    uint    RevMotor8 : 4;  // 96 bits
+    quint32 padding; // 128 bits
+} __attribute__((packed))  customGUISettingsStruct;
+
+
 typedef union {
-    uint UAVObject[4]; // 32 bits * 4
+    uint UAVObject[5]; // 32 bits * 5
     heliGUISettingsStruct   heli; // 128 bits
     fixedGUISettingsStruct  fixedwing;
     multiGUISettingsStruct  multi;
     groundGUISettingsStruct ground;
+    customGUISettingsStruct custom;
 } GUIConfigDataUnion;
 
 class ConfigTaskWidget;

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

@@ -55,7 +55,10 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     transmitterType(acro),
     //
     loop(NULL),
-    skipflag(false)
+    skipflag(false),
+    nextDelayedTimer(),
+    nextDelayedTick(0),
+    nextDelayedLatestActivityTick(0)
 {
     manualCommandObj      = ManualControlCommand::GetInstance(getObjectManager());
     manualSettingsObj     = ManualControlSettings::GetInstance(getObjectManager());
@@ -395,6 +398,13 @@ void ConfigInputWidget::goToWizard()
     flightModeSettingsData.Arming  = FlightModeSettings::ARMING_ALWAYSDISARMED;
     flightModeSettingsObj->setData(flightModeSettingsData);
 
+    accessoryDesiredObj0           = AccessoryDesired::GetInstance(getObjectManager(), 0);
+    accessoryDesiredObj1           = AccessoryDesired::GetInstance(getObjectManager(), 1);
+    accessoryDesiredObj2           = AccessoryDesired::GetInstance(getObjectManager(), 2);
+
+    // Use faster input update rate.
+    fastMdata();
+
     // start the wizard
     wizardSetUpStep(wizardWelcome);
     ui->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio);
@@ -412,7 +422,13 @@ void ConfigInputWidget::disableWizardButton(int value)
 void ConfigInputWidget::wzCancel()
 {
     dimOtherControls(false);
-    manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
+
+    // Cancel any ongoing delayd next trigger.
+    wzNextDelayedCancel();
+
+    // Restore original input update rate.
+    restoreMdata();
+
     ui->stackedWidget->setCurrentIndex(0);
 
     if (wizardStep != wizardNone) {
@@ -426,8 +442,45 @@ void ConfigInputWidget::wzCancel()
     flightModeSettingsObj->setData(previousFlightModeSettingsData);
 }
 
+void ConfigInputWidget::registerControlActivity()
+{
+    nextDelayedLatestActivityTick = nextDelayedTick;
+}
+
+void ConfigInputWidget::wzNextDelayed()
+{
+    nextDelayedTick++;
+
+    // Call next after the full 2500 ms timeout has been reached,
+    // or if no input activity has occurred the last 500 ms.
+    if (nextDelayedTick == 25 ||
+        nextDelayedTick - nextDelayedLatestActivityTick >= 5) {
+        wzNext();
+    }
+}
+
+void ConfigInputWidget::wzNextDelayedStart()
+{
+    // Call wzNextDelayed every 100 ms, to see if it's time to go to the next page.
+    connect(&nextDelayedTimer, SIGNAL(timeout()), this, SLOT(wzNextDelayed()));
+    nextDelayedTimer.start(100);
+}
+
+// Cancel the delayed next timer, if it's active.
+void ConfigInputWidget::wzNextDelayedCancel()
+{
+    nextDelayedTick = 0;
+    nextDelayedLatestActivityTick = 0;
+    if (nextDelayedTimer.isActive()) {
+        nextDelayedTimer.stop();
+        disconnect(&nextDelayedTimer, SIGNAL(timeout()), this, SLOT(wzNextDelayed()));
+    }
+}
+
 void ConfigInputWidget::wzNext()
 {
+    wzNextDelayedCancel();
+
     // In identify sticks mode the next button can indicate
     // channel advance
     if (wizardStep != wizardNone &&
@@ -464,6 +517,10 @@ void ConfigInputWidget::wzNext()
         break;
     case wizardFinish:
         wizardStep = wizardNone;
+
+        // Restore original input update rate.
+        restoreMdata();
+
         // Leave setting the throttle neutral until the final Next press,
         // else the throttle scaling causes the graphical stick movement to not
         // match the tx stick
@@ -492,6 +549,8 @@ void ConfigInputWidget::wzNext()
 
 void ConfigInputWidget::wzBack()
 {
+    wzNextDelayedCancel();
+
     if (wizardStep != wizardNone &&
         wizardStep != wizardIdentifySticks) {
         wizardTearDownStep(wizardStep);
@@ -623,12 +682,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         break;
     case wizardIdentifyLimits:
     {
-        accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(), 0);
-        accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(), 1);
-        accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(), 2);
         setTxMovement(nothing);
         ui->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions.\n\nPress Next when ready.")));
-        fastMdata();
         manualSettingsData = manualSettingsObj->getData();
         for (uint i = 0; i < ManualControlSettings::CHANNELMAX_NUMELEM; ++i) {
             // Preserve the inverted status
@@ -665,7 +720,6 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         }
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
         ui->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.")));
-        fastMdata();
         break;
     case wizardFinish:
         dimOtherControls(false);
@@ -675,7 +729,6 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         ui->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n\n"
                                        "IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings "
                                        "tab where you can set your desired arming sequence and save the configuration.")));
-        fastMdata();
         break;
     default:
         Q_ASSERT(0);
@@ -732,7 +785,6 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
         disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
         disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
         manualSettingsObj->setData(manualSettingsData);
-        restoreMdata();
         setTxMovement(nothing);
         break;
     case wizardIdentifyInverted:
@@ -747,7 +799,6 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
         }
         extraWidgets.clear();
         disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
-        restoreMdata();
         break;
     case wizardFinish:
         dimOtherControls(false);
@@ -755,23 +806,33 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
         disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
         disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
         disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveSticks()));
-        restoreMdata();
         break;
     default:
         Q_ASSERT(0);
     }
 }
 
+static void fastMdataSingle(UAVDataObject *object, UAVObject::Metadata *savedMdata)
+{
+    *savedMdata = object->getMetadata();
+    UAVObject::Metadata mdata = *savedMdata;
+    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
+    mdata.flightTelemetryUpdatePeriod = 150;
+    object->setMetadata(mdata);
+}
+
+static void restoreMdataSingle(UAVDataObject *object, UAVObject::Metadata *savedMdata)
+{
+    object->setMetadata(*savedMdata);
+}
+
 /**
  * Set manual control command to fast updates
  */
 void ConfigInputWidget::fastMdata()
 {
-    manualControlMdata = manualCommandObj->getMetadata();
+    fastMdataSingle(manualCommandObj, &manualControlMdata);
-    UAVObject::Metadata mdata = manualControlMdata;
+    fastMdataSingle(accessoryDesiredObj0, &accessoryDesiredMdata0);
-    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
-    mdata.flightTelemetryUpdatePeriod = 150;
-    manualCommandObj->setMetadata(mdata);
 }
 
 /**
@@ -779,7 +840,8 @@ void ConfigInputWidget::fastMdata()
  */
 void ConfigInputWidget::restoreMdata()
 {
-    manualCommandObj->setMetadata(manualControlMdata);
+    restoreMdataSingle(manualCommandObj, &manualControlMdata);
+    restoreMdataSingle(accessoryDesiredObj0, &accessoryDesiredMdata0);
 }
 
 /**
@@ -849,7 +911,7 @@ void ConfigInputWidget::prevChannel()
     for (int i = 1; i < order.length(); i++) {
         if (order[i] == currentChannelNum) {
             if (!usedChannels.isEmpty() &&
-                usedChannels.back().channelIndex == currentChannelNum) {
+                usedChannels.back().channelIndex == order[i - 1]) {
                 usedChannels.removeLast();
             }
             setChannel(order[i - 1]);
@@ -861,25 +923,54 @@ void ConfigInputWidget::prevChannel()
 
 void ConfigInputWidget::identifyControls()
 {
+    static const int DEBOUNCE_COUNT = 4;
     static int debounce = 0;
 
     receiverActivityData = receiverActivityObj->getData();
+
     if (receiverActivityData.ActiveChannel == 255) {
         return;
     }
+
     if (channelDetected) {
+        registerControlActivity();
         return;
-    } else {
+    }
+
     receiverActivityData  = receiverActivityObj->getData();
     currentChannel.group  = receiverActivityData.ActiveGroup;
     currentChannel.number = receiverActivityData.ActiveChannel;
-        if (currentChannel == lastChannel) {
+
-            ++debounce;
+    if (debounce == 0) {
-        }
+        // Register a channel to be debounced.
         lastChannel.group  = currentChannel.group;
         lastChannel.number = currentChannel.number;
         lastChannel.channelIndex = currentChannelNum;
-        if (!usedChannels.contains(lastChannel) && debounce > 1) {
+        ++debounce;
+        return;
+    }
+
+    if (currentChannel != lastChannel) {
+        // A new channel was seen. Only register it if we count down to 0.
+        --debounce;
+        return;
+    }
+
+    if (debounce < DEBOUNCE_COUNT) {
+        // We still haven't seen enough enough activity on this channel yet.
+        ++debounce;
+        return;
+    }
+
+    // Channel has been debounced and it's enough record it.
+
+    if (usedChannels.contains(lastChannel)) {
+        // Channel is already recorded.
+        return;
+    }
+
+    // Record the channel.
+
     channelDetected    = true;
     debounce = 0;
     usedChannels.append(lastChannel);
@@ -887,15 +978,11 @@ void ConfigInputWidget::identifyControls()
     manualSettingsData.ChannelGroups[currentChannelNum] = currentChannel.group;
     manualSettingsData.ChannelNumber[currentChannelNum] = currentChannel.number;
     manualSettingsObj->setData(manualSettingsData);
-        } else {
-            return;
-        }
-    }
 
     // m_config->wzText->clear();
     setTxMovement(nothing);
 
-    QTimer::singleShot(2500, this, SLOT(wzNext()));
+    wzNextDelayedStart();
 }
 
 void ConfigInputWidget::identifyLimits()

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

@@ -82,6 +82,10 @@ private:
         {
             return (group == rhs.group) && (number == rhs.number);
         }
+        bool operator !=(const channelsStruct & rhs)  const
+        {
+            return !operator==(rhs);
+        }
         int group;
         int number;
         int channelIndex;
@@ -92,24 +96,34 @@ private:
     QEventLoop *loop;
     bool skipflag;
 
+    // Variables to support delayed transitions when detecting input controls.
+    QTimer nextDelayedTimer;
+    int nextDelayedTick;
+    int nextDelayedLatestActivityTick;
+
     int currentChannelNum;
     QList<int> heliChannelOrder;
     QList<int> acroChannelOrder;
 
+    UAVObject::Metadata manualControlMdata;
     ManualControlCommand *manualCommandObj;
     ManualControlCommand::DataFields manualCommandData;
+
     FlightStatus *flightStatusObj;
     FlightStatus::DataFields flightStatusData;
+
+    UAVObject::Metadata accessoryDesiredMdata0;
     AccessoryDesired *accessoryDesiredObj0;
     AccessoryDesired *accessoryDesiredObj1;
     AccessoryDesired *accessoryDesiredObj2;
     AccessoryDesired::DataFields accessoryDesiredData0;
     AccessoryDesired::DataFields accessoryDesiredData1;
     AccessoryDesired::DataFields accessoryDesiredData2;
-    UAVObject::Metadata manualControlMdata;
+
     ManualControlSettings *manualSettingsObj;
     ManualControlSettings::DataFields manualSettingsData;
     ManualControlSettings::DataFields previousManualSettingsData;
+
     FlightModeSettings *flightModeSettingsObj;
     FlightModeSettings::DataFields flightModeSettingsData;
     FlightModeSettings::DataFields previousFlightModeSettingsData;
@@ -152,8 +166,14 @@ private:
     void wizardSetUpStep(enum wizardSteps);
     void wizardTearDownStep(enum wizardSteps);
 
+    void registerControlActivity();
+
+    void wzNextDelayedStart();
+    void wzNextDelayedCancel();
+
 private slots:
     void wzNext();
+    void wzNextDelayed();
     void wzBack();
     void wzCancel();
     void goToWizard();

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

@@ -57,7 +57,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     // Set up fake tab widget stuff for pid banks support
     m_pidTabBars.append(ui->basicPIDBankTabBar);
     m_pidTabBars.append(ui->advancedPIDBankTabBar);
-    m_pidTabBars.append(ui->expertPIDBankTabBar);
     foreach(QTabBar * tabBar, m_pidTabBars) {
         for (int i = 0; i < m_pidBankCount; i++) {
             tabBar->addTab(tr("PID Bank %1").arg(i + 1));
@@ -94,8 +93,6 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     addWidget(ui->realTimeUpdates_12);
     connect(ui->realTimeUpdates_7, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
     addWidget(ui->realTimeUpdates_7);
-    connect(ui->realTimeUpdates_9, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
-    addWidget(ui->realTimeUpdates_9);
 
     connect(ui->checkBox_7, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
     addWidget(ui->checkBox_7);
@@ -111,7 +108,11 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     addWidget(ui->pushButton_4);
     addWidget(ui->pushButton_5);
     addWidget(ui->pushButton_6);
+    addWidget(ui->pushButton_7);
+    addWidget(ui->pushButton_8);
     addWidget(ui->pushButton_9);
+    addWidget(ui->pushButton_10);
+    addWidget(ui->pushButton_11);
     addWidget(ui->pushButton_20);
     addWidget(ui->pushButton_22);
     addWidget(ui->pushButton_23);
@@ -150,7 +151,6 @@ void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
     ui->realTimeUpdates_8->setChecked(value);
     ui->realTimeUpdates_12->setChecked(value);
     ui->realTimeUpdates_7->setChecked(value);
-    ui->realTimeUpdates_9->setChecked(value);
 
     if (value && !realtimeUpdates->isActive()) {
         realtimeUpdates->start(AUTOMATIC_UPDATE_RATE);
@@ -193,14 +193,10 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
             ui->RatePitchKp->setValue(ui->RateRollKp_2->value());
         } else if (widget == ui->RateRollKi_2) {
             ui->RatePitchKi->setValue(ui->RateRollKi_2->value());
-        } else if (widget == ui->RateRollILimit_2) {
-            ui->RatePitchILimit->setValue(ui->RateRollILimit_2->value());
         } else if (widget == ui->RatePitchKp) {
             ui->RateRollKp_2->setValue(ui->RatePitchKp->value());
         } else if (widget == ui->RatePitchKi) {
             ui->RateRollKi_2->setValue(ui->RatePitchKi->value());
-        } else if (widget == ui->RatePitchILimit) {
-            ui->RateRollILimit_2->setValue(ui->RatePitchILimit->value());
         } else if (widget == ui->RollRateKd) {
             ui->PitchRateKd->setValue(ui->RollRateKd->value());
         } else if (widget == ui->PitchRateKd) {
@@ -213,14 +209,10 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
             ui->AttitudePitchKp_2->setValue(ui->AttitudeRollKp->value());
         } else if (widget == ui->AttitudeRollKi) {
             ui->AttitudePitchKi_2->setValue(ui->AttitudeRollKi->value());
-        } else if (widget == ui->AttitudeRollILimit) {
-            ui->AttitudePitchILimit_2->setValue(ui->AttitudeRollILimit->value());
         } else if (widget == ui->AttitudePitchKp_2) {
             ui->AttitudeRollKp->setValue(ui->AttitudePitchKp_2->value());
         } else if (widget == ui->AttitudePitchKi_2) {
             ui->AttitudeRollKi->setValue(ui->AttitudePitchKi_2->value());
-        } else if (widget == ui->AttitudePitchILimit_2) {
-            ui->AttitudeRollILimit->setValue(ui->AttitudePitchILimit_2->value());
         }
     }
 
@@ -240,7 +232,7 @@ void ConfigStabilizationWidget::onBoardConnected()
 
     Q_ASSERT(utilMngr);
     boardModel = utilMngr->getBoardModel();
-    // If Revolution board enable misc tab, otherwise disable it
+    // If Revolution board enable Althold tab, otherwise disable it
     ui->AltitudeHold->setEnabled((boardModel & 0xff00) == 0x0900);
 }
 

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

@@ -198,13 +198,28 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
     // is not ideal, but there you go.
     QString frameType = field->getValue().toString();
 
-    int category = frameCategory(frameType);
+    // Always update custom tab from others airframe settings : debug/learn hardcoded mixers
+    int category = frameCategory("Custom");
     m_aircraft->aircraftType->setCurrentIndex(category);
 
     VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
+
+    if (vehicleConfig) {
+        vehicleConfig->refreshWidgetsValues("Custom");
+    }
+
+    // Switch to Airframe currently used
+    category = frameCategory(frameType);
+
+    if (frameType != "Custom") {
+        m_aircraft->aircraftType->setCurrentIndex(category);
+
+        VehicleConfig *vehicleConfig = getVehicleConfigWidget(category);
+
         if (vehicleConfig) {
             vehicleConfig->refreshWidgetsValues(frameType);
         }
+    }
 
     updateFeedForwardUI();
 
@@ -252,7 +267,8 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
     vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
     vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
 
-    // TODO call refreshWidgetsValues() to reflect actual saved values ?
+    // call refreshWidgetsValues() to reflect actual saved values
+    refreshWidgetsValues();
     updateFeedForwardUI();
 }
 

ground/openpilotgcs/src/plugins/config/stabilization.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>820</width>
+    <width>839</width>
     <height>785</height>
    </rect>
   </property>
@@ -95,7 +95,7 @@
       <enum>QTabWidget::Rounded</enum>
      </property>
      <property name="currentIndex">
-      <number>0</number>
+      <number>2</number>
      </property>
      <property name="documentMode">
       <bool>false</bool>
@@ -136,8 +136,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>798</width>
+            <width>815</width>
-            <height>705</height>
+            <height>708</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -7837,8 +7837,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>565</width>
+            <width>815</width>
-            <height>733</height>
+            <height>708</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -16299,2436 +16299,20 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>829</width>
+            <width>815</width>
-            <height>691</height>
+            <height>708</height>
            </rect>
           </property>
-          <layout class="QVBoxLayout" name="verticalLayout_9">
+          <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0,0,0,0,0,0">
-           <property name="spacing">
-            <number>0</number>
-           </property>
            <item>
-            <widget class="QTabBar" name="expertPIDBankTabBar" native="true"/>
+            <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,1">
-           </item>
              <item>
-            <widget class="QFrame" name="expertPidBankFrame">
+              <widget class="QGroupBox" name="groupBox_2">
-             <property name="styleSheet">
-              <string notr="true">#expertPidBankFrame{
-	color: rgb(180, 180, 180);
-    margin-top: -1px;
-}</string>
-             </property>
-             <property name="frameShape">
-              <enum>QFrame::Box</enum>
-             </property>
-             <property name="frameShadow">
-              <enum>QFrame::Plain</enum>
-             </property>
-             <property name="lineWidth">
-              <number>1</number>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_8">
-              <item>
-               <widget class="QGroupBox" name="groupBox_5">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
                <property name="title">
-                 <string>Integral Limits</string>
+                <string>Weak Leveling</string>
                </property>
-                <layout class="QGridLayout" name="gridLayout_9">
+               <layout class="QGridLayout" name="gridLayout_8">
-                 <property name="leftMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="topMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="rightMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="bottomMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="horizontalSpacing">
-                  <number>6</number>
-                 </property>
-                 <item row="1" column="0" colspan="2">
-                  <widget class="QGroupBox" name="groupBox_10">
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>100</height>
-                    </size>
-                   </property>
-                   <property name="palette">
-                    <palette>
-                     <active>
-                      <colorrole role="WindowText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Button">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Midlight">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Dark">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>125</red>
-                         <green>125</green>
-                         <blue>125</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Mid">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>166</red>
-                         <green>166</green>
-                         <blue>166</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Text">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ButtonText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Shadow">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                     </active>
-                     <inactive>
-                      <colorrole role="WindowText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>69</red>
-                         <green>69</green>
-                         <blue>69</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Button">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Midlight">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Dark">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>125</red>
-                         <green>125</green>
-                         <blue>125</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Mid">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>166</red>
-                         <green>166</green>
-                         <blue>166</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Text">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>69</red>
-                         <green>69</green>
-                         <blue>69</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ButtonText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Shadow">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                     </inactive>
-                     <disabled>
-                      <colorrole role="WindowText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>125</red>
-                         <green>125</green>
-                         <blue>125</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Button">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Midlight">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Dark">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>125</red>
-                         <green>125</green>
-                         <blue>125</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Mid">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>166</red>
-                         <green>166</green>
-                         <blue>166</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Text">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>125</red>
-                         <green>125</green>
-                         <blue>125</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ButtonText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>125</red>
-                         <green>125</green>
-                         <blue>125</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Shadow">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                     </disabled>
-                    </palette>
-                   </property>
-                   <property name="styleSheet">
-                    <string>QGroupBox{border: 0px;}</string>
-                   </property>
-                   <property name="title">
-                    <string/>
-                   </property>
-                   <property name="flat">
-                    <bool>true</bool>
-                   </property>
-                   <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,0,1,0,1,0,1,0">
-                    <property name="leftMargin">
-                     <number>0</number>
-                    </property>
-                    <property name="topMargin">
-                     <number>9</number>
-                    </property>
-                    <property name="rightMargin">
-                     <number>0</number>
-                    </property>
-                    <property name="bottomMargin">
-                     <number>0</number>
-                    </property>
-                    <item row="1" column="4">
-                     <widget class="QDoubleSpinBox" name="RatePitchILimit">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
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-                     <width>632</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="1">
                  <widget class="QPushButton" name="pushButton_9">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -18761,127 +16345,76 @@ font:bold;</string>
                    <stringlist>
                     <string>objname:StabilizationSettings</string>
                     <string>button:default</string>
-                     <string>buttongroup:13</string>
+                    <string>buttongroup:25</string>
                    </stringlist>
                   </property>
                  </widget>
                 </item>
-                </layout>
+                <item row="2" column="0" colspan="2">
-               </widget>
+                 <widget class="QGroupBox" name="groupBox_7">
-              </item>
+                  <property name="styleSheet">
-             </layout>
+                   <string notr="true">QGroupBox{border: 0px;}</string>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_8">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Fixed</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>9</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox_4">
-             <property name="autoFillBackground">
-              <bool>false</bool>
                   </property>
                   <property name="title">
-              <string>Weak Leveling / Axis Lock</string>
+                   <string/>
                   </property>
-             <layout class="QGridLayout" name="gridLayout_5">
+                  <layout class="QGridLayout" name="gridLayout_9">
-              <property name="leftMargin">
+                   <item row="1" column="1">
-               <number>9</number>
+                    <widget class="QDoubleSpinBox" name="WeakLevelingRate">
-              </property>
-              <property name="topMargin">
-               <number>9</number>
-              </property>
-              <property name="rightMargin">
-               <number>9</number>
-              </property>
-              <property name="bottomMargin">
-               <number>9</number>
-              </property>
-              <item row="0" column="0">
-               <spacer name="horizontalSpacer_13">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>632</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="0" column="1">
-               <widget class="QPushButton" name="pushButton_6">
                      <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                        <horstretch>0</horstretch>
                        <verstretch>0</verstretch>
                       </sizepolicy>
                      </property>
                      <property name="minimumSize">
                       <size>
-                  <width>0</width>
+                       <width>25</width>
-                  <height>0</height>
+                       <height>22</height>
                       </size>
                      </property>
                      <property name="maximumSize">
                       <size>
-                  <width>16777215</width>
+                       <width>175</width>
-                  <height>16777215</height>
+                       <height>22</height>
                       </size>
                      </property>
+                     <property name="focusPolicy">
+                      <enum>Qt::StrongFocus</enum>
+                     </property>
                      <property name="toolTip">
-                 <string>Reset all values to GCS defaults</string>
+                      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In Weak Leveling mode, this is the maximum number of degrees per second that weak leveling will move the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                      </property>
                      <property name="styleSheet">
                       <string notr="true"/>
                      </property>
-                <property name="text">
+                     <property name="alignment">
-                 <string>Default</string>
+                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                     </property>
+                     <property name="decimals">
+                      <number>0</number>
+                     </property>
+                     <property name="minimum">
+                      <double>1.000000000000000</double>
+                     </property>
+                     <property name="maximum">
+                      <double>360.000000000000000</double>
+                     </property>
+                     <property name="singleStep">
+                      <double>1.000000000000000</double>
                      </property>
                      <property name="objrelation" stdset="0">
                       <stringlist>
                        <string>objname:StabilizationSettings</string>
-                  <string>button:default</string>
+                       <string>fieldname:MaxWeakLevelingRate</string>
-                  <string>buttongroup:10</string>
+                       <string>haslimits:no</string>
+                       <string>scale:1</string>
+                       <string>buttongroup:25</string>
                       </stringlist>
                      </property>
                     </widget>
                    </item>
-              <item row="1" column="0" colspan="2">
+                   <item row="0" column="0">
-               <widget class="QGroupBox" name="groupBox2">
-                <property name="styleSheet">
-                 <string>QGroupBox{border: 0px;}</string>
-                </property>
-                <property name="flat">
-                 <bool>true</bool>
-                </property>
-                <layout class="QGridLayout" name="gridLayout_4">
-                 <property name="leftMargin">
-                  <number>0</number>
-                 </property>
-                 <property name="topMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="rightMargin">
-                  <number>0</number>
-                 </property>
-                 <property name="bottomMargin">
-                  <number>0</number>
-                 </property>
-                 <item row="0" column="1">
                     <widget class="QLabel" name="label_50">
                      <property name="sizePolicy">
                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -19426,14 +16959,14 @@ margin:1px;
 font:bold;</string>
                      </property>
                      <property name="text">
-                    <string>Weak Leveling Kp </string>
+                      <string>Weak Leveling Gain </string>
                      </property>
                      <property name="alignment">
                       <set>Qt::AlignCenter</set>
                      </property>
                     </widget>
                    </item>
-                 <item row="0" column="3">
+                   <item row="0" column="1">
                     <widget class="QLabel" name="label_49">
                      <property name="sizePolicy">
                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -19985,7 +17518,205 @@ font:bold;</string>
                      </property>
                     </widget>
                    </item>
-                 <item row="0" column="5">
+                   <item row="1" column="0">
+                    <widget class="QDoubleSpinBox" name="WeakLevelingKp">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="minimumSize">
+                      <size>
+                       <width>25</width>
+                       <height>22</height>
+                      </size>
+                     </property>
+                     <property name="maximumSize">
+                      <size>
+                       <width>175</width>
+                       <height>22</height>
+                      </size>
+                     </property>
+                     <property name="focusPolicy">
+                      <enum>Qt::StrongFocus</enum>
+                     </property>
+                     <property name="toolTip">
+                      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In Weak Leveling mode, this setting acts like Attitude Kp. If you make this setting too high, it can cause oscillations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                     </property>
+                     <property name="styleSheet">
+                      <string notr="true"/>
+                     </property>
+                     <property name="alignment">
+                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                     </property>
+                     <property name="decimals">
+                      <number>2</number>
+                     </property>
+                     <property name="minimum">
+                      <double>0.010000000000000</double>
+                     </property>
+                     <property name="maximum">
+                      <double>360.000000000000000</double>
+                     </property>
+                     <property name="singleStep">
+                      <double>0.010000000000000</double>
+                     </property>
+                     <property name="objrelation" stdset="0">
+                      <stringlist>
+                       <string>objname:StabilizationSettings</string>
+                       <string>fieldname:WeakLevelingKp</string>
+                       <string>haslimits:no</string>
+                       <string>scale:1</string>
+                       <string>buttongroup:25</string>
+                      </stringlist>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </widget>
+                </item>
+                <item row="1" column="0">
+                 <spacer name="horizontalSpacer_25">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </widget>
+             </item>
+             <item>
+              <widget class="QGroupBox" name="groupBox_5">
+               <property name="title">
+                <string>Axis Lock</string>
+               </property>
+               <layout class="QGridLayout" name="gridLayout_27">
+                <item row="0" column="0">
+                 <spacer name="horizontalSpacer_34">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QPushButton" name="pushButton_6">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true"/>
+                  </property>
+                  <property name="text">
+                   <string>Default</string>
+                  </property>
+                  <property name="objrelation" stdset="0">
+                   <stringlist>
+                    <string>objname:StabilizationSettings</string>
+                    <string>button:default</string>
+                    <string>buttongroup:31</string>
+                   </stringlist>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="0" colspan="2">
+                 <widget class="QGroupBox" name="groupBox_10">
+                  <property name="styleSheet">
+                   <string notr="true">QGroupBox{border: 0px;}</string>
+                  </property>
+                  <property name="title">
+                   <string/>
+                  </property>
+                  <layout class="QGridLayout" name="gridLayout_28">
+                   <item row="1" column="0">
+                    <widget class="QDoubleSpinBox" name="MaAxisLock">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="minimumSize">
+                      <size>
+                       <width>25</width>
+                       <height>22</height>
+                      </size>
+                     </property>
+                     <property name="maximumSize">
+                      <size>
+                       <width>175</width>
+                       <height>22</height>
+                      </size>
+                     </property>
+                     <property name="focusPolicy">
+                      <enum>Qt::StrongFocus</enum>
+                     </property>
+                     <property name="toolTip">
+                      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In AxisLock mode, this is the maximum number of degrees of correction. If movement by outside forces (eg Wind) are less than the set value your vehicle will return to centre. More than set amount and will only move your vehicle the set amount back to centre.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                     </property>
+                     <property name="styleSheet">
+                      <string notr="true"/>
+                     </property>
+                     <property name="alignment">
+                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                     </property>
+                     <property name="decimals">
+                      <number>0</number>
+                     </property>
+                     <property name="minimum">
+                      <double>0.000000000000000</double>
+                     </property>
+                     <property name="maximum">
+                      <double>360.000000000000000</double>
+                     </property>
+                     <property name="singleStep">
+                      <double>1.000000000000000</double>
+                     </property>
+                     <property name="value">
+                      <double>1.000000000000000</double>
+                     </property>
+                     <property name="objrelation" stdset="0">
+                      <stringlist>
+                       <string>objname:StabilizationSettings</string>
+                       <string>fieldname:MaxAxisLock</string>
+                       <string>haslimits:no</string>
+                       <string>scale:1</string>
+                       <string>buttongroup:31</string>
+                      </stringlist>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="0" column="0">
                     <widget class="QLabel" name="label_51">
                      <property name="sizePolicy">
                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -20537,7 +18268,7 @@ font:bold;</string>
                      </property>
                     </widget>
                    </item>
-                 <item row="0" column="7">
+                   <item row="0" column="1">
                     <widget class="QLabel" name="label_52">
                      <property name="sizePolicy">
                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -21089,230 +18820,7 @@ font:bold;</string>
                      </property>
                     </widget>
                    </item>
-                 <item row="1" column="0">
-                  <spacer name="horizontalSpacer_18">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>90</width>
-                     <height>11</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
                    <item row="1" column="1">
-                  <widget class="QDoubleSpinBox" name="WeakLevelingKp">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>25</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>175</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In Weak Leveling mode, this setting acts like Attitude Kp. If you make this setting too high, it can cause oscillations.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                   <property name="decimals">
-                    <number>2</number>
-                   </property>
-                   <property name="minimum">
-                    <double>0.010000000000000</double>
-                   </property>
-                   <property name="maximum">
-                    <double>360.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.010000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:WeakLevelingKp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="2">
-                  <spacer name="horizontalSpacer_15">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="3">
-                  <widget class="QDoubleSpinBox" name="WeakLevelingRate">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>25</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>175</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In Weak Leveling mode, this is the maximum number of degrees per second that weak leveling will move the vehicle.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                   <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="minimum">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="maximum">
-                    <double>360.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaxWeakLevelingRate</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="4">
-                  <spacer name="horizontalSpacer_17">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="5">
-                  <widget class="QDoubleSpinBox" name="MaAxisLock">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>25</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>175</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In AxisLock mode, this is the maximum number of degrees of correction. If movement by outside forces (eg Wind) are less than the set value your vehicle will return to centre. More than set amount and will only move your vehicle the set amount back to centre.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                   <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="minimum">
-                    <double>0.000000000000000</double>
-                   </property>
-                   <property name="maximum">
-                    <double>360.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="value">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaxAxisLock</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="6">
-                  <spacer name="horizontalSpacer_19">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="7">
                     <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
                      <property name="sizePolicy">
                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -21362,12 +18870,815 @@ font:bold;</string>
                        <string>fieldname:MaxAxisLockRate</string>
                        <string>haslimits:no</string>
                        <string>scale:1</string>
-                     <string>buttongroup:10</string>
+                       <string>buttongroup:31</string>
                       </stringlist>
                      </property>
                     </widget>
                    </item>
-                 <item row="1" column="8">
+                  </layout>
+                 </widget>
+                </item>
+               </layout>
+              </widget>
+             </item>
+            </layout>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_9">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>9</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,6">
+             <item>
+              <widget class="QGroupBox" name="groupBox_4">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="title">
+                <string>Rattitude</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0" columnstretch="1,1">
+                <property name="horizontalSpacing">
+                 <number>0</number>
+                </property>
+                <property name="verticalSpacing">
+                 <number>6</number>
+                </property>
+                <item row="1" column="0" colspan="2">
+                 <widget class="QGroupBox" name="groupBox_12">
+                  <property name="styleSheet">
+                   <string notr="true">QGroupBox{border: 0px;}</string>
+                  </property>
+                  <property name="title">
+                   <string/>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                  <layout class="QVBoxLayout" name="verticalLayout_9" stretch="0">
+                   <property name="topMargin">
+                    <number>9</number>
+                   </property>
+                   <item>
+                    <widget class="QFrame" name="frame">
+                     <property name="frameShape">
+                      <enum>QFrame::NoFrame</enum>
+                     </property>
+                     <property name="frameShadow">
+                      <enum>QFrame::Plain</enum>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_12">
+                      <property name="leftMargin">
+                       <number>0</number>
+                      </property>
+                      <property name="topMargin">
+                       <number>0</number>
+                      </property>
+                      <property name="rightMargin">
+                       <number>0</number>
+                      </property>
+                      <property name="bottomMargin">
+                       <number>0</number>
+                      </property>
+                      <item>
+                       <spacer name="verticalSpacer_8">
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>20</width>
+                          <height>5</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                      <item>
+                       <widget class="QLabel" name="label_3">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>144</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>175</width>
+                          <height>16777215</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>Mode Transition</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QDoubleSpinBox" name="RattitudeModeTransition">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>5</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>175</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Percentage of full stick where the transition from Attitude to Rate occurs. This transition always occurs when the aircraft is exactly inverted (bank angle 180 degrees).  Small values are dangerous because they cause flips at small stick angles.  Values significantly over 100 act like attitude mode and can never flip.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="accelerated">
+                         <bool>true</bool>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="minimum">
+                         <double>25.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>255.000000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>80.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:RattitudeModeTransition</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:15</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <spacer name="verticalSpacer_5">
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>20</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
+                 </widget>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QPushButton" name="pushButton_10">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="text">
+                   <string>Default</string>
+                  </property>
+                  <property name="objrelation" stdset="0">
+                   <stringlist>
+                    <string>objname:StabilizationSettings</string>
+                    <string>button:default</string>
+                    <string>buttongroup:15</string>
+                   </stringlist>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </widget>
+             </item>
+             <item>
+              <widget class="QGroupBox" name="groupBox_11">
+               <property name="title">
+                <string>Cruise Control</string>
+               </property>
+               <layout class="QGridLayout" name="gridLayout_24">
+                <item row="2" column="1" colspan="2">
+                 <widget class="QGroupBox" name="gridGroupBox_1">
+                  <property name="styleSheet">
+                   <string notr="true">QGroupBox{border: 0px;}</string>
+                  </property>
+                  <property name="title">
+                   <string/>
+                  </property>
+                  <layout class="QGridLayout" name="gridLayout_23">
+                   <property name="leftMargin">
+                    <number>0</number>
+                   </property>
+                   <property name="topMargin">
+                    <number>9</number>
+                   </property>
+                   <property name="rightMargin">
+                    <number>9</number>
+                   </property>
+                   <property name="bottomMargin">
+                    <number>9</number>
+                   </property>
+                   <item row="1" column="0" colspan="2">
+                    <widget class="QFrame" name="gridFrame">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <layout class="QGridLayout" name="gridLayout_25">
+                      <property name="leftMargin">
+                       <number>9</number>
+                      </property>
+                      <property name="topMargin">
+                       <number>9</number>
+                      </property>
+                      <property name="rightMargin">
+                       <number>9</number>
+                      </property>
+                      <property name="bottomMargin">
+                       <number>9</number>
+                      </property>
+                      <item row="1" column="2">
+                       <widget class="QDoubleSpinBox" name="doubleSpinBox_4">
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Throttle/Collective stick below this amount disables Cruise Control. Also, by default Cruise Control forces the use of this value for thrust when InvertedPower setting is Zero and the copter is inverted. CP helis probably want this set to -100%. For safety with fixed pitch copters (including multicopters), never set this so low that the trimmed throttle stick cannot get below it or your motor(s) will still run with the throttle stick all the way down. Fixed pitch throttle sticks go from -100 to 0 in the first tiny bit of throttle stick (and then up to 100 using the rest of the throttle range), so for example, a lot of &amp;quot;high throttle trim&amp;quot; will keep the stick from ever commanding less than 5% so it won't be possible to stop the motors with the throttle stick. Banking the copter in your hand in this state will make the motors speed up.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="accelerated">
+                         <bool>true</bool>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="minimum">
+                         <double>-100.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>49.000000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>5.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:CruiseControlMinThrust</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:16</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="2">
+                       <widget class="QDoubleSpinBox" name="doubleSpinBox_5">
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Multi-copters should probably use 80% to 90% to leave some headroom for stabilization. CP helis can set this to 100%.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="accelerated">
+                         <bool>true</bool>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="minimum">
+                         <double>51.000000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>90.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:CruiseControlMaxThrust</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:16</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="2">
+                       <widget class="QLabel" name="label_9">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>97</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>MaxThrust</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="3">
+                       <widget class="QComboBox" name="comboBox">
+                        <property name="minimumSize">
+                         <size>
+                          <width>75</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;CP helis can set this to Reversed to automatically reverse the direction of thrust when inverted. Fixed pitch copters, including multicopters, should leave this set at Unreversed. Unreversed direction with Boosted power may be dangerous because it adds power and the thrust direction moves the aircraft towards the ground.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:CruiseControlInvertedThrustReversing</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:16</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="3">
+                       <widget class="QLabel" name="label_10">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>145</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>InvrtdThrustRev</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QDoubleSpinBox" name="doubleSpinBox_3">
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The bank angle where CruiseControl goes into inverted power mode.  InvertedThrustReverse and InvertedPower control the direction and amount of power when in inverted mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="accelerated">
+                         <bool>true</bool>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>255.000000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>105.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:CruiseControlMaxAngle</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:16</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="0">
+                       <widget class="QLabel" name="label_4">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>140</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>MaxPowerFactor</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="0">
+                       <widget class="QDoubleSpinBox" name="doubleSpinBox">
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Really just a safety limit. 3.0 means it will not use more than 3 times the power the throttle/collective stick is requesting.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="accelerated">
+                         <bool>true</bool>
+                        </property>
+                        <property name="decimals">
+                         <number>2</number>
+                        </property>
+                        <property name="minimum">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>50.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.100000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>3.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:CruiseControlMaxPowerFactor</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:16</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="0">
+                       <widget class="QLabel" name="label_11">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>155</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>PowerDelayComp</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="1">
+                       <widget class="QLabel" name="label_7">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>90</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>MaxAngle</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="2">
+                       <widget class="QLabel" name="label_8">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>92</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>MinThrust</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="3">
+                       <widget class="QComboBox" name="comboBox_2">
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The amount of power used when in inverted mode. Zero (min throttle stick for fixed pitch copters includding multicopters, neutral collective for CP), Normal (uses stick value), or Boosted (boosted according to bank angle). Beginning multicopter pilots should leave this set to Zero to automatically reduce throttle during flips.   Boosted power with Unreversed direction may be dangerous because it adds power and the thrust direction moves the aircraft towards the ground.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:CruiseControlInvertedPowerOutput</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:16</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="1">
+                       <widget class="QDoubleSpinBox" name="doubleSpinBox_2">
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;If you find that quickly moving the stick around a lot makes the copter climb a bit, adjust this number down a little.  It will be a compromise between climbing a little with lots of stick motion and descending a little with minimal stick motion.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="accelerated">
+                         <bool>true</bool>
+                        </property>
+                        <property name="decimals">
+                         <number>2</number>
+                        </property>
+                        <property name="minimum">
+                         <double>50.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>200.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.250000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>100.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:CruiseControlPowerTrim</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:16</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="3">
+                       <widget class="QLabel" name="label_12">
+                        <property name="minimumSize">
+                         <size>
+                          <width>120</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
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+                        <property name="text">
+                         <string>InvertedPower</string>
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+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
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+                      </item>
+                      <item row="2" column="1">
+                       <widget class="QLabel" name="label_6">
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+                          <verstretch>0</verstretch>
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+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>97</width>
+                          <height>16</height>
+                         </size>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>PowerTrim</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QDoubleSpinBox" name="doubleSpinBox_7">
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Motor response time to go from min thrust to max thrust. It allows thrust anticipation on entering/exiting inverted mode&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="accelerated">
+                         <bool>true</bool>
+                        </property>
+                        <property name="decimals">
+                         <number>5</number>
+                        </property>
+                        <property name="maximum">
+                         <double>2.000000000000000</double>
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+                        <property name="singleStep">
+                         <double>0.001000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.250000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettings</string>
+                          <string>fieldname:CruiseControlPowerDelayComp</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:16</string>
+                         </stringlist>
+                        </property>
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+                     </layout>
+                    </widget>
+                   </item>
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+                 </widget>
+                </item>
+                <item row="0" column="2">
+                 <widget class="QPushButton" name="pushButton_11">
+                  <property name="text">
+                   <string>Default</string>
+                  </property>
+                  <property name="objrelation" stdset="0">
+                   <stringlist>
+                    <string>objname:StabilizationSettings</string>
+                    <string>button:default</string>
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+                <item row="0" column="1">
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                   <property name="orientation">
                    <enum>Qt::Horizontal</enum>
@@ -21384,10 +19695,9 @@ font:bold;</string>
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            <item>
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+            <spacer name="verticalSpacer_10">
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               <enum>Qt::Vertical</enum>
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@@ -21924,1270 +20234,20 @@ font:bold;</string>
                 <property name="flat">
                  <bool>true</bool>
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                   <number>9</number>
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+                  <number>9</number>
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-                     <width>20</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="5">
                   <widget class="QLabel" name="label_48">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -23732,14 +20792,14 @@ margin:1px;
 font:bold;</string>
                    </property>
                    <property name="text">
-                    <string>AccelKi</string>
+                    <string>Accel I</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="5">
+                 <item row="1" column="2">
                   <widget class="QDoubleSpinBox" name="AccelKi">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -23791,18 +20851,1213 @@ font:bold;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="6">
+                 <item row="1" column="1">
-                  <spacer name="horizontalSpacer_23">
+                  <widget class="QDoubleSpinBox" name="AccelKp">
-                   <property name="orientation">
+                   <property name="sizePolicy">
-                    <enum>Qt::Horizontal</enum>
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
                    </property>
-                   <property name="sizeHint" stdset="0">
+                   <property name="minimumSize">
                     <size>
-                     <width>20</width>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The proportional term for the accelerometer, the higher this term the more weight the accel is given.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.010000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:AttitudeSettings</string>
+                     <string>fieldname:AccelKp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:8,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="0">
+                  <widget class="QLabel" name="label_46">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
                      <height>20</height>
                     </size>
                    </property>
-                  </spacer>
+                   <property name="palette">
+                    <palette>
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+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+                   </property>
+                   <property name="text">
+                    <string>Gyro Noise Filtering</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QDoubleSpinBox" name="GyroTau">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
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+                   <property name="minimumSize">
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+                     <height>22</height>
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+                     <height>22</height>
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+                   <property name="focusPolicy">
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+                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;In effect, a vibrations filter for the gyro.  Default 0.005 - Max .020.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
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+                     <string>fieldname:GyroTau</string>
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+                     <string>buttongroup:8,10</string>
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+                   <property name="font">
+                    <font>
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+                     <bold>true</bold>
+                    </font>
+                   </property>
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+                   <property name="text">
+                    <string>Accel P</string>
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+                   <property name="alignment">
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                  </item>
                 </layout>
                </widget>
@@ -23811,7 +22066,7 @@ font:bold;</string>
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            </item>
            <item>
-            <spacer name="verticalSpacer_10">
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               <enum>Qt::Vertical</enum>
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@@ -23862,912 +22117,6 @@ font:bold;</string>
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-            <width>665</width>
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-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Percentage of full stick where the transition from Attitude to Rate occurs. This transition always occurs when the aircraft is exactly inverted (bank angle 180 degrees).  Small values are dangerous because they cause flips at small stick angles.  Values significantly over 100 act like attitude mode and can never flip.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Motor response time to go from min thrust to max thrust. It allows thrust anticipation on entering/exiting inverted mode&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;If you find that quickly moving the stick around a lot makes the copter climb a bit, adjust this number down a little.  It will be a compromise between climbing a little with lots of stick motion and descending a little with minimal stick motion.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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-                   </property>
-                   <property name="decimals">
-                    <number>2</number>
-                   </property>
-                   <property name="minimum">
-                    <double>50.000000000000000</double>
-                   </property>
-                   <property name="maximum">
-                    <double>200.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.250000000000000</double>
-                   </property>
-                   <property name="value">
-                    <double>100.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:CruiseControlPowerTrim</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:16</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="4">
-                  <widget class="QComboBox" name="comboBox_2">
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The amount of power used when in inverted mode. Zero (min throttle stick for fixed pitch copters includding multicopters, neutral collective for CP), Normal (uses stick value), or Boosted (boosted according to bank angle). Beginning multicopter pilots should leave this set to Zero to automatically reduce throttle during flips.   Boosted power with Unreversed direction may be dangerous because it adds power and the thrust direction moves the aircraft towards the ground.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:CruiseControlInvertedPowerOutput</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:16</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox_9">
-             <property name="title">
-              <string>Instant Update</string>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_17">
-              <item>
-               <widget class="QCheckBox" name="realTimeUpdates_9">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>136</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="toolTip">
-                 <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this feature mean that any changes made to the sliders will be instantly sent and used by the Flight Controller, useful for two person tuning where one normally flies and ones changes the GCS.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-                <property name="text">
-                 <string>Update flight controller in real time</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_11">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
@@ -24818,8 +22167,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>478</width>
+            <width>815</width>
-            <height>518</height>
+            <height>708</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -27901,23 +25250,11 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>rateYawILimit_3</tabstop>
   <tabstop>checkBox_3</tabstop>
   <tabstop>checkBox_2</tabstop>
-  <tabstop>WeakLevelingKp</tabstop>
-  <tabstop>WeakLevelingRate</tabstop>
-  <tabstop>MaAxisLock</tabstop>
-  <tabstop>MaxAxisLockRate</tabstop>
-  <tabstop>pushButton_9</tabstop>
-  <tabstop>RateRollILimit_2</tabstop>
-  <tabstop>RatePitchILimit</tabstop>
-  <tabstop>RateYawILimit</tabstop>
-  <tabstop>AttitudeRollILimit</tabstop>
-  <tabstop>AttitudePitchILimit_2</tabstop>
-  <tabstop>AttitudeYawILimit</tabstop>
   <tabstop>pushButton_5</tabstop>
   <tabstop>GyroTau</tabstop>
   <tabstop>AccelKp</tabstop>
   <tabstop>AccelKi</tabstop>
   <tabstop>realTimeUpdates_6</tabstop>
-  <tabstop>scrollArea_3</tabstop>
   <tabstop>tabWidget</tabstop>
   <tabstop>scrollArea_2</tabstop>
  </tabstops>

ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp

@@ -26,7 +26,9 @@
  */
 #include "modeluavoproxy.h"
 #include "extensionsystem/pluginmanager.h"
+#include "uavobjecthelper.h"
 
+#include <QProgressDialog>
 #include <math.h>
 
 ModelUavoProxy::ModelUavoProxy(QObject *parent, flightDataModel *model) : QObject(parent), myModel(model)
@@ -37,91 +39,126 @@ ModelUavoProxy::ModelUavoProxy(QObject *parent, flightDataModel *model) : QObjec
 
     objMngr = pm->getObject<UAVObjectManager>();
     Q_ASSERT(objMngr != NULL);
-
-    completionCountdown = 0;
-    successCountdown    = 0;
 }
 
 void ModelUavoProxy::sendPathPlan()
 {
     modelToObjects();
 
-    PathPlan *pathPlan = PathPlan::GetInstance(objMngr, 0);
+    PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
-    connect(pathPlan, SIGNAL(transactionCompleted(UAVObject *, bool)),
-            this, SLOT(pathPlanElementSent(UAVObject *, bool)), Qt::UniqueConnection);
 
-    Waypoint *waypoint = Waypoint::GetInstance(objMngr, 0);
+    const int waypointCount = pathPlan->getWaypointCount();
-    connect(waypoint, SIGNAL(transactionCompleted(UAVObject *, bool)),
+    const int actionCount   = pathPlan->getPathActionCount();
-            this, SLOT(pathPlanElementSent(UAVObject *, bool)), Qt::UniqueConnection);
 
-    PathAction *action = PathAction::GetInstance(objMngr, 0);
+    QProgressDialog progress(tr("Sending the path plan to the board... "), "", 0, 1 + waypointCount + actionCount);
-    connect(action, SIGNAL(transactionCompleted(UAVObject *, bool)),
+    progress.setWindowModality(Qt::WindowModal);
-            this, SLOT(pathPlanElementSent(UAVObject *, bool)), Qt::UniqueConnection);
+    progress.setCancelButton(NULL);
+    progress.show();
 
-    // we will start 3 update all
+    UAVObjectUpdaterHelper updateHelper;
-    completionCountdown = 3;
-    successCountdown    = completionCountdown;
 
-    pathPlan->updated();
+    // send PathPlan
-    waypoint->updatedAll();
+    bool success = (updateHelper.doObjectAndWait(pathPlan) == UAVObjectUpdaterHelper::SUCCESS);
-    action->updatedAll();
+    progress.setValue(1);
-}
 
-void ModelUavoProxy::pathPlanElementSent(UAVObject *obj, bool success)
+    if (success) {
-{
+        // send Waypoint instances
-    obj->disconnect(this);
+        qDebug() << "sending" << waypointCount << "waypoints";
-
+        for (int i = 0; i < waypointCount; ++i) {
-    completionCountdown--;
+            Waypoint *waypoint = Waypoint::GetInstance(objMngr, i);
-    successCountdown -= success ? 1 : 0;
+            success = (updateHelper.doObjectAndWait(waypoint) == UAVObjectUpdaterHelper::SUCCESS);
-
+            if (!success) {
-    if (completionCountdown == 0) {
+                break;
-        qDebug() << "ModelUavoProxy::pathPlanSent - completed" << (successCountdown == 0);
+            }
-        if (successCountdown == 0) {
+            progress.setValue(progress.value() + 1);
-            QMessageBox::information(NULL, tr("Path Plan Upload Successful"), tr("Path plan upload was successful."));
-        } else {
-            QMessageBox::critical(NULL, tr("Path Plan Upload Failed"), tr("Failed to upload the path plan !"));
         }
     }
+
+    if (success) {
+        // send PathAction instances
+        qDebug() << "sending" << actionCount << "path actions";
+        for (int i = 0; i < actionCount; ++i) {
+            PathAction *action = PathAction::GetInstance(objMngr, i);
+            success = (updateHelper.doObjectAndWait(action) == UAVObjectUpdaterHelper::SUCCESS);
+            if (!success) {
+                break;
+            }
+            progress.setValue(progress.value() + 1);
+        }
+    }
+
+    qDebug() << "ModelUavoProxy::pathPlanSent - completed" << success;
+    if (!success) {
+        QMessageBox::critical(NULL, tr("Sending Path Plan Failed!"), tr("Failed to send the path plan to the board."));
+    }
+
+    progress.close();
 }
 
 void ModelUavoProxy::receivePathPlan()
 {
-    PathPlan *pathPlan = PathPlan::GetInstance(objMngr, 0);
+    QProgressDialog progress(tr("Receiving the path plan from the board... "), "", 0, 0);
+    progress.setWindowModality(Qt::WindowModal);
+    progress.setCancelButton(NULL);
+    progress.show();
 
-    connect(pathPlan, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(pathPlanElementReceived(UAVObject *, bool)));
+    UAVObjectRequestHelper requestHelper;
 
-    Waypoint *waypoint = Waypoint::GetInstance(objMngr, 0);
+    PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
-    connect(waypoint, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(pathPlanElementReceived(UAVObject *, bool)));
+    bool success = (requestHelper.doObjectAndWait(pathPlan) == UAVObjectUpdaterHelper::SUCCESS);
 
-    PathAction *action = PathAction::GetInstance(objMngr, 0);
+    const int waypointCount = pathPlan->getWaypointCount();
-    connect(action, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(pathPlanElementReceived(UAVObject *, bool)));
+    const int actionCount   = pathPlan->getPathActionCount();
 
-    // we will start 3 update requests
+    progress.setMaximum(1 + waypointCount + actionCount);
-    completionCountdown = 3;
+    progress.setValue(1);
-    successCountdown    = completionCountdown;
 
-    pathPlan->requestUpdate();
+    if (success && (waypointCount > objMngr->getNumInstances(Waypoint::OBJID))) {
-    waypoint->requestUpdateAll();
+        // allocate needed Waypoint instances
-    action->requestUpdateAll();
+        Waypoint *waypoint = new Waypoint;
-}
+        waypoint->initialize(waypointCount - 1, waypoint->getMetaObject());
-
+        success = objMngr->registerObject(waypoint);
-void ModelUavoProxy::pathPlanElementReceived(UAVObject *obj, bool success)
-{
-    obj->disconnect(this);
-
-    completionCountdown--;
-    successCountdown -= success ? 1 : 0;
-
-    if (completionCountdown == 0) {
-        qDebug() << "ModelUavoProxy::pathPlanReceived - completed" << (successCountdown == 0);
-        if (successCountdown == 0) {
-            if (objectsToModel()) {
-                QMessageBox::information(NULL, tr("Path Plan Download Successful"), tr("Path plan download was successful."));
     }
+    if (success) {
+        // request Waypoint instances
+        qDebug() << "requesting" << waypointCount << "waypoints";
+        for (int i = 0; i < waypointCount; ++i) {
+            Waypoint *waypoint = Waypoint::GetInstance(objMngr, i);
+            success = (requestHelper.doObjectAndWait(waypoint) == UAVObjectRequestHelper::SUCCESS);
+            if (!success) {
+                break;
+            }
+            progress.setValue(progress.value() + 1);
+        }
+    }
+
+    if (success && (actionCount > objMngr->getNumInstances(PathAction::OBJID))) {
+        // allocate needed PathAction instances
+        PathAction *action = new PathAction;
+        action->initialize(actionCount - 1, action->getMetaObject());
+        success = objMngr->registerObject(action);
+    }
+    if (success) {
+        // request PathAction isntances
+        qDebug() << "requesting" << actionCount << "path actions";
+        for (int i = 0; i < actionCount; ++i) {
+            PathAction *action = PathAction::GetInstance(objMngr, i);
+            success = (requestHelper.doObjectAndWait(action) == UAVObjectRequestHelper::SUCCESS);
+            if (!success) {
+                break;
+            }
+            progress.setValue(progress.value() + 1);
+        }
+    }
+
+    qDebug() << "ModelUavoProxy::pathPlanReceived - completed" << success;
+    if (success) {
+        objectsToModel();
     } else {
-            QMessageBox::critical(NULL, tr("Path Plan Download Failed"), tr("Failed to download the path plan !"));
+        QMessageBox::critical(NULL, tr("Receiving Path Plan Failed!"), tr("Failed to receive the path plan from the board."));
-        }
     }
+
+    progress.close();
 }
 
 // update waypoint and path actions UAV objects

ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h

@@ -49,9 +49,6 @@ private:
     UAVObjectManager *objMngr;
     flightDataModel *myModel;
 
-    uint completionCountdown;
-    uint successCountdown;
-
     bool modelToObjects();
     bool objectsToModel();
 
@@ -67,10 +64,6 @@ private:
     void pathActionToModel(int i, PathAction::DataFields &data);
 
     quint8 computePathPlanCrc(int waypointCount, int actionCount);
-
-private slots:
-    void pathPlanElementSent(UAVObject *, bool success);
-    void pathPlanElementReceived(UAVObject *, bool success);
 };
 
 #endif // MODELUAVOPROXY_H

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjecthelper.h

@@ -43,7 +43,10 @@ public:
     virtual ~AbstractUAVObjectHelper();
 
     enum Result { SUCCESS, FAIL, TIMEOUT };
-    Result doObjectAndWait(UAVObject *object, int timeout);
+
+    // default timeout = 3 x 250ms + 50ms safety margin = 800ms
+    // where 3 is the number of UAVTalk retries and 250ms is the UAVTalk timeout
+    Result doObjectAndWait(UAVObject *object, int timeout = 800);
 
 protected:
     virtual void doObjectAndWaitImpl() = 0;

ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp

@@ -48,10 +48,12 @@ Telemetry::Telemetry(UAVTalk *utalk, UAVObjectManager *objMngr) : objMngr(objMng
     }
 
     // Listen to new object creations
-    connect(objMngr, SIGNAL(newObject(UAVObject *)), this, SLOT(newObject(UAVObject *)));
+    // connection must be direct, if not, it is not possible to create and send (or request) an object in one go
-    connect(objMngr, SIGNAL(newInstance(UAVObject *)), this, SLOT(newInstance(UAVObject *)));
+    connect(objMngr, SIGNAL(newObject(UAVObject *)), this, SLOT(newObject(UAVObject *)), Qt::DirectConnection);
+    connect(objMngr, SIGNAL(newInstance(UAVObject *)), this, SLOT(newInstance(UAVObject *)), Qt::DirectConnection);
 
     // Listen to transaction completions
+    // these slots will be executed in the telemetry thread
     // TODO should send a status (SUCCESS, FAILED, TIMEOUT)
     connect(utalk, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(transactionCompleted(UAVObject *, bool)));
 
@@ -568,6 +570,10 @@ void Telemetry::newObject(UAVObject *obj)
 {
     QMutexLocker locker(mutex);
 
+#ifdef VERBOSE_TELEMETRY
+    qDebug() << "Telemetry - new object" << obj->toStringBrief();
+#endif
+
     registerObject(obj);
 }
 
@@ -575,6 +581,10 @@ void Telemetry::newInstance(UAVObject *obj)
 {
     QMutexLocker locker(mutex);
 
+#ifdef VERBOSE_TELEMETRY
+    qDebug() << "Telemetry - new object instance" << obj->toStringBrief();
+#endif
+
     registerObject(obj);
 }
 

shared/uavobjectdefinition/stabilizationsettingsbank1.xml

@@ -10,7 +10,7 @@
 
 	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
 	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>

shared/uavobjectdefinition/stabilizationsettingsbank2.xml

@@ -10,7 +10,7 @@
 
 	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
 	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>

shared/uavobjectdefinition/stabilizationsettingsbank3.xml

@@ -10,7 +10,7 @@
 
 <field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
 	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>