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/calibration/sixpointcalibrationmodel.cpp

@@ -101,7 +101,7 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
     revoCalibration   = RevoCalibration::GetInstance(getObjectManager());
     Q_ASSERT(revoCalibration);
 
-    auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
+    auxMagSettings    = AuxMagSettings::GetInstance(getObjectManager());
     Q_ASSERT(auxMagSettings);
 
     accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
@@ -440,7 +440,7 @@ void SixPointCalibrationModel::compute()
     double Be_length;
 
     RevoCalibration::DataFields revoCalibrationData     = revoCalibration->getData();
-    AuxMagSettings::DataFields auxCalibrationData    = auxMagSettings->getData();
+    AuxMagSettings::DataFields auxCalibrationData       = auxMagSettings->getData();
     AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
 
     HomeLocation::DataFields homeLocationData = homeLocation->getData();
@@ -521,8 +521,8 @@ void SixPointCalibrationModel::compute()
     if (good_calibration) {
         m_dirty = true;
         if (calibratingMag) {
-            result.revoCalibrationData   = revoCalibrationData;
+            result.revoCalibrationData = revoCalibrationData;
-            result.auxMagSettingsData = auxCalibrationData;
+            result.auxMagSettingsData  = auxCalibrationData;
             displayInstructions(tr("Magnetometer calibration completed successfully."), WizardModel::Success);
         }
         if (calibratingAccel) {

ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h

@@ -92,14 +92,14 @@ public:
         UAVObject::Metadata accelStateMetadata;
         UAVObject::Metadata magSensorMetadata;
         UAVObject::Metadata auxMagSensorMetadata;
-        AuxMagSettings::DataFields auxMagSettings;
+        AuxMagSettings::DataFields    auxMagSettings;
         RevoCalibration::DataFields   revoCalibrationData;
         AccelGyroSettings::DataFields accelGyroSettingsData;
     } Memento;
 
     typedef struct {
         RevoCalibration::DataFields   revoCalibrationData;
-        AuxMagSettings::DataFields auxMagSettingsData;
+        AuxMagSettings::DataFields    auxMagSettingsData;
         AccelGyroSettings::DataFields accelGyroSettingsData;
     } Result;
 

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);
 
@@ -162,60 +278,125 @@ void ConfigCustomWidget::refreshWidgetsValues(QString frameType)
     }
 }
 
+
 /**
    Helper function to
  */
 QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
 {
-    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
+    UAVDataObject *system = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("SystemSettings")));
 
-    Q_ASSERT(mixer);
+    Q_ASSERT(system);
 
-    setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
+    QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
-    setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
 
-    // Update the table:
+    // Do not allow changes until AirframeType == Custom
-    for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    // If user want to save custom mixer : first set AirframeType to 'Custom' without changes and next modify.
-        QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel);
+    if (field->getValue().toString() == "Custom") {
-        if (q->currentText() == "Disabled") {
+        UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
+
-        } else if (q->currentText() == "Motor") {
+        Q_ASSERT(mixer);
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
+
-        } else if (q->currentText() == "ReversableMotor") {
+        setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_REVERSABLEMOTOR);
+        setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
-        } else if (q->currentText() == "Servo") {
+
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
+        GUIConfigDataUnion configData = getConfigData();
-        } else if (q->currentText() == "CameraRoll") {
+        resetActuators(&configData);
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAROLL);
+
-        } else if (q->currentText() == "CameraPitch") {
+        // Update the table:
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAPITCH);
+        for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
-        } else if (q->currentText() == "CameraYaw") {
+            QComboBox *q = (QComboBox *)m_aircraft->customMixerTable->cellWidget(0, channel);
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
+            if (q->currentText() == "Disabled") {
-        } else if (q->currentText() == "Accessory0") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
+            } else if (q->currentText() == "Motor") {
-        } else if (q->currentText() == "Accessory1") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
+                if (configData.custom.Motor1 == 0) {
-        } else if (q->currentText() == "Accessory2") {
+                    configData.custom.Motor1 = channel + 1;
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
+                } else if (configData.custom.Motor2 == 0) {
-        } else if (q->currentText() == "Accessory3") {
+                    configData.custom.Motor2 = channel + 1;
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
+                } else if (configData.custom.Motor3 == 0) {
-        } else if (q->currentText() == "Accessory4") {
+                    configData.custom.Motor3 = channel + 1;
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
+                } else if (configData.custom.Motor4 == 0) {
-        } else if (q->currentText() == "Accessory5") {
+                    configData.custom.Motor4 = channel + 1;
-            setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
+                } 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") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAPITCH);
+            } else if (q->currentText() == "CameraYaw") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
+            } else if (q->currentText() == "Accessory0") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
+            } else if (q->currentText() == "Accessory1") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
+            } else if (q->currentText() == "Accessory2") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
+            } else if (q->currentText() == "Accessory3") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
+            } else if (q->currentText() == "Accessory4") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
+            } else if (q->currentText() == "Accessory5") {
+                setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
+            }
+            setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
+                                m_aircraft->customMixerTable->item(1, channel)->text().toDouble());
+            setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
+                                m_aircraft->customMixerTable->item(2, channel)->text().toDouble());
+            setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL,
+                                m_aircraft->customMixerTable->item(3, channel)->text().toDouble());
+            setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH,
+                                m_aircraft->customMixerTable->item(4, channel)->text().toDouble());
+            setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
+                                m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
         }
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
+        setConfigData(configData);
-                            m_aircraft->customMixerTable->item(1, channel)->text().toDouble());
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
-                            m_aircraft->customMixerTable->item(2, channel)->text().toDouble());
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL,
-                            m_aircraft->customMixerTable->item(3, channel)->text().toDouble());
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH,
-                            m_aircraft->customMixerTable->item(4, channel)->text().toDouble());
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW,
-                            m_aircraft->customMixerTable->item(5, channel)->text().toDouble());
     }
-
     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]);
@@ -861,41 +923,66 @@ 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;
+    receiverActivityData  = receiverActivityObj->getData();
-        currentChannel.number = receiverActivityData.ActiveChannel;
+    currentChannel.group  = receiverActivityData.ActiveGroup;
-        if (currentChannel == lastChannel) {
+    currentChannel.number = receiverActivityData.ActiveChannel;
-            ++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;
-            channelDetected    = true;
+        return;
-            debounce = 0;
-            usedChannels.append(lastChannel);
-            manualSettingsData = manualSettingsObj->getData();
-            manualSettingsData.ChannelGroups[currentChannelNum] = currentChannel.group;
-            manualSettingsData.ChannelNumber[currentChannelNum] = currentChannel.number;
-            manualSettingsObj->setData(manualSettingsData);
-        } else {
-            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);
+    manualSettingsData = manualSettingsObj->getData();
+    manualSettingsData.ChannelGroups[currentChannelNum] = currentChannel.group;
+    manualSettingsData.ChannelNumber[currentChannelNum] = currentChannel.number;
+    manualSettingsObj->setData(manualSettingsData);
+
     // 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

@@ -198,12 +198,27 @@ 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(frameType);
+        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/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)
+    }
-{
+    if (success) {
-    obj->disconnect(this);
+        // request Waypoint instances
-
+        qDebug() << "requesting" << waypointCount << "waypoints";
-    completionCountdown--;
+        for (int i = 0; i < waypointCount; ++i) {
-    successCountdown -= success ? 1 : 0;
+            Waypoint *waypoint = Waypoint::GetInstance(objMngr, i);
-
+            success = (requestHelper.doObjectAndWait(waypoint) == UAVObjectRequestHelper::SUCCESS);
-    if (completionCountdown == 0) {
+            if (!success) {
-        qDebug() << "ModelUavoProxy::pathPlanReceived - completed" << (successCountdown == 0);
+                break;
-        if (successCountdown == 0) {
-            if (objectsToModel()) {
-                QMessageBox::information(NULL, tr("Path Plan Download Successful"), tr("Path plan download was successful."));
             }
-        } else {
+            progress.setValue(progress.value() + 1);
-            QMessageBox::critical(NULL, tr("Path Plan Download Failed"), tr("Failed to download the path plan !"));
         }
     }
+
+    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("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; "/>