MixerCurve: alpha version of integrated mixer curve;

only in fixedwing config currently.
2025-02-20 10:54:14 +01:00 · 2012-06-30 14:35:38 -07:00 · 2012-06-30 14:35:38 -07:00 · 7f3a810fa6
commit 7f3a810fa6
parent 1e985f3aed
8 changed files with 596 additions and 96 deletions
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@ -471,23 +471,7 @@ margin:1px;</string>
                 </property>
                 <layout class="QVBoxLayout" name="verticalLayout_16">
                  <item>
-                   <spacer name="verticalSpacer_6">
-                    <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>20</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                  <item>
-                   <widget class="MixerCurveWidget" name="fixedWingThrottle" native="true">
+                   <widget class="MixerCurve" name="fixedWingThrottle" native="true">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                      <horstretch>0</horstretch>
@ -496,14 +480,14 @@ margin:1px;</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                      <width>100</width>
-                      <height>100</height>
+                      <width>350</width>
+                      <height>350</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-                      <width>200</width>
-                      <height>200</height>
+                      <width>500</width>
+                      <height>500</height>
                     </size>
                    </property>
                    <property name="sizeIncrement">
@ -514,26 +498,6 @@ margin:1px;</string>
                    </property>
                   </widget>
                  </item>
-                  <item>
-                   <widget class="QPushButton" name="fwThrottleReset">
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>16777215</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="fwThrottleCurveItemValue">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
                 </layout>
                </widget>
               </item>
@ -2784,14 +2748,14 @@ p, li { white-space: pre-wrap; }
            <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
           </property>
          </widget>
         </item>
@ -2889,7 +2853,7 @@ p, li { white-space: pre-wrap; }
  <customwidget>
   <class>MixerCurveWidget</class>
   <extends>QWidget</extends>
-   <header>mixercurvewidget.h</header>
+   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
   <container>1</container>
  </customwidget>
  <customwidget>
@ -2898,6 +2862,12 @@ p, li { white-space: pre-wrap; }
   <header>cfg_vehicletypes/configccpmwidget.h</header>
   <container>1</container>
  </customwidget>
+  <customwidget>
+   <class>MixerCurve</class>
+   <extends>QWidget</extends>
+   <header location="global">uavobjectwidgetutils/mixercurve.h</header>
+   <container>1</container>
+  </customwidget>
 </customwidgets>
 <resources>
  <include location="../coreplugin/core.qrc"/>
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@ -207,7 +207,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
    //mdl connect(m_heli->m_ccpm->ccpmType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));

 	//Connect throttle curve reset pushbuttons to reset functions
-    connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
+    //connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
    connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
    connect(m_aircraft->gvThrottleCurve1Reset, SIGNAL(clicked()), this, SLOT(resetGvFrontMixer()));	
    connect(m_aircraft->gvThrottleCurve2Reset, SIGNAL(clicked()), this, SLOT(resetGvRearMixer()));	
@ -487,7 +487,7 @@ void ConfigVehicleTypeWidget::resetFwMixer()
 {
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
+    //resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
 }

 /**
@ -497,7 +497,7 @@ void ConfigVehicleTypeWidget::resetMrMixer()
 {
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
+    //resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
 }

 /**
@ -507,7 +507,7 @@ void ConfigVehicleTypeWidget::resetGvFrontMixer()
 {
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->groundVehicleThrottle1, field->getNumElements(),1);
+    //resetMixer(m_aircraft->groundVehicleThrottle1, field->getNumElements(),1);
 }

 /**
@ -517,7 +517,7 @@ void ConfigVehicleTypeWidget::resetGvRearMixer()
 {
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
    UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
-    resetMixer(m_aircraft->groundVehicleThrottle2, field->getNumElements(),1);
+    //resetMixer(m_aircraft->groundVehicleThrottle2, field->getNumElements(),1);
 }

 /**
@ -537,7 +537,7 @@ void ConfigVehicleTypeWidget::resetCt2Mixer()
 {
    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
    UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
-    resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
+    //resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
 }


@ -550,15 +550,6 @@ void ConfigVehicleTypeWidget::resetMixer(MixerCurveWidget *mixer, int numElement
    mixer->initLinearCurve((quint32)numElements,maxvalue);
 }

-/**
-  Updates the currently moved fixed wing throttle curve item value
-  */
-void ConfigVehicleTypeWidget::updateFwThrottleCurveValue(QList<double> list, double value)
-{
-    Q_UNUSED(list);
-    m_aircraft->fwThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
-}
-
 /**
  Updates the currently moved multi-rotor throttle curve item value
  */
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
@ -99,7 +99,6 @@ private slots:
    void resetGvRearMixer();
    void resetCt1Mixer();
    void resetCt2Mixer();
-    void updateFwThrottleCurveValue(QList<double> list, double value);
    void updateMrThrottleCurveValue(QList<double> list, double value);
    void updateGvThrottle1CurveValue(QList<double> list, double value);
    void updateGvThrottle2CurveValue(QList<double> list, double value);
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
@ -1,14 +1,265 @@
+#include <math.h>
 #include "mixercurve.h"
-#include "ui_mixercurve.h"

 MixerCurve::MixerCurve(QWidget *parent) :
    QFrame(parent),
-    ui(new Ui::MixerCurve)
+    m_mixerUI(new Ui::MixerCurve),
+    m_curveType(MixerCurve::MIXERCURVE_THROTTLE)
 {
-    ui->setupUi(this);
+    m_mixerUI->setupUi(this);
+
+    m_curve = m_mixerUI->CurveWidget;
+    m_settings = m_mixerUI->CurveSettings;
+
+    UpdateCurveSettings();
+
+    connect(m_mixerUI->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
+    connect(m_mixerUI->ResetCurve, SIGNAL(clicked()), this, SLOT(ResetCurve()));
+    connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
+    connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettings()));
+
+    connect(m_mixerUI->CurveMin, SIGNAL(valueChanged(double)), this, SLOT(CurveMinChanged(double)));
+    connect(m_mixerUI->CurveMax, SIGNAL(valueChanged(double)), this, SLOT(CurveMaxChanged(double)));
+    connect(m_mixerUI->CurveStep, SIGNAL(valueChanged(double)), this, SLOT(GenerateCurve()));
 }

 MixerCurve::~MixerCurve()
 {
-    delete ui;
+    delete m_mixerUI;
+}
+
+void MixerCurve::ResetCurve()
+{
+    m_curve->setMin((m_curveType == MixerCurve::MIXERCURVE_THROTTLE) ? 0.0 : -1.0);
+    m_curve->setMax(1.0);
+
+    m_mixerUI->CurveMin->setValue(m_curve->getMin());
+    m_mixerUI->CurveMax->setValue(m_curve->getMax());
+
+    initLinearCurve(MixerCurveWidget::NODE_NUMELEM, m_curve->getMax(), m_curve->getMin());
+
+    UpdateSettings();
+}
+
+void MixerCurve::UpdateCurveSettings()
+{
+    //get the user settings
+    QString curveType = m_mixerUI->CurveType->currentText();
+
+    switch (m_curveType) {
+        case MixerCurve::MIXERCURVE_THROTTLE:
+        {
+            m_mixerUI->CurveMin->setMinimum(0.0);
+            m_mixerUI->CurveMax->setMinimum(0.0);
+            m_mixerUI->CurveStep->setMinimum(0.0);
+            break;
+        }
+        case MixerCurve::MIXERCURVEPITCH:
+        {
+            m_mixerUI->CurveMin->setMinimum(-1.0);
+            m_mixerUI->CurveMax->setMinimum(-1.0);
+            m_mixerUI->CurveStep->setMinimum(0.0);
+            break;
+        }
+    }
+    m_mixerUI->CurveMin->setMaximum(1.0);
+    m_mixerUI->CurveMax->setMaximum(1.0);
+    m_mixerUI->CurveStep->setMaximum(100.0);
+
+    //set default visible
+    m_mixerUI->minLabel->setText("Min");
+    m_mixerUI->minLabel->setVisible(true);
+    m_mixerUI->CurveMin->setVisible(true);
+    m_mixerUI->maxLabel->setVisible(false);
+    m_mixerUI->CurveMax->setVisible(false);
+    m_mixerUI->stepLabel->setVisible(false);
+    m_mixerUI->CurveStep->setVisible(false);
+
+    if ( curveType.compare("Flat")==0)
+    {
+        m_mixerUI->minLabel->setText("Value");
+    }
+    if ( curveType.compare("Linear")==0)
+    {
+        m_mixerUI->maxLabel->setVisible(true);
+        m_mixerUI->CurveMax->setVisible(true);
+    }
+    if ( curveType.compare("Step")==0)
+    {
+        m_mixerUI->maxLabel->setVisible(true);
+        m_mixerUI->CurveMax->setVisible(true);
+        m_mixerUI->stepLabel->setText("Step at");
+        m_mixerUI->stepLabel->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);
+    }
+    if ( curveType.compare("Exp")==0)
+    {
+        m_mixerUI->maxLabel->setVisible(true);
+        m_mixerUI->CurveMax->setVisible(true);
+        m_mixerUI->stepLabel->setText("Strength");
+        m_mixerUI->stepLabel->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);
+    }
+    if ( curveType.compare("Log")==0)
+    {
+        m_mixerUI->maxLabel->setVisible(true);
+        m_mixerUI->CurveMax->setVisible(true);
+        m_mixerUI->stepLabel->setText("Strength");
+        m_mixerUI->stepLabel->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);
+    }
+}
+
+void MixerCurve::GenerateCurve()
+{
+   double scale;
+   double newValue;
+
+   //get the user settings
+   double value1 = getMin();
+   double value2 = getMax();
+   double value3 = getStep();
+
+   QString CurveType = m_mixerUI->CurveType->currentText();
+
+   QList<double> points;
+
+   for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++)
+   {
+       scale =((double)i/(double)(MixerCurveWidget::NODE_NUMELEM - 1));
+
+       if ( CurveType.compare("Flat")==0)
+       {
+           points.append(value1);
+       }
+       if ( CurveType.compare("Linear")==0)
+       {
+           newValue =value1 +(scale*(value2-value1));
+           points.append(newValue);
+       }
+       if ( CurveType.compare("Step")==0)
+       {
+           if (scale*100<value3)
+           {
+               points.append(value1);
+           }
+           else
+           {
+               points.append(value2);
+           }
+       }
+       if ( CurveType.compare("Exp")==0)
+       {
+           newValue =value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1));
+           points.append(newValue);
+       }
+       if ( CurveType.compare("Log")==0)
+       {
+           newValue = value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1));
+           points.append(newValue);
+       }
+   }
+
+   initCurve(&points);
+}
+
+void MixerCurve::initCurve (const QList<double>* points)
+{
+    m_curve->initCurve(points);
+    UpdateSettings();
+}
+
+QList<double> MixerCurve::getCurve()
+{
+    return m_curve->getCurve();
+}
+
+void MixerCurve::initLinearCurve(int numPoints, double maxValue, double minValue)
+{
+    m_curve->initLinearCurve(numPoints, maxValue, minValue);
+}
+
+void MixerCurve::setCurve(const QList<double>* points)
+{
+    m_curve->setCurve(points);
+    UpdateSettings();
+}
+
+void MixerCurve::setMin(double value)
+{
+    m_curve->setMin(value);
+}
+
+double MixerCurve::getMin()
+{
+    return m_curve->getMin();
+}
+
+void MixerCurve::setMax(double value)
+{
+    m_curve->setMax(value);
+}
+
+double MixerCurve::getMax()
+{
+    return m_curve->getMax();
+}
+
+double MixerCurve::getStep()
+{
+    return m_mixerUI->CurveStep->value();
+}
+
+void MixerCurve::UpdateSettings()
+{
+    QList<double> points = m_curve->getCurve();
+
+    int ptCnt = points.count();
+    for (int i=0; i<ptCnt; i++)
+    {
+        QTableWidgetItem* item = m_settings->item((ptCnt - 1) - i, 0);
+        if (item)
+            item->setText(QString().sprintf("%.2f",points.at(i)));
+    }
+}
+
+void MixerCurve::CurveMinChanged(double value)
+{
+    setMin(value);
+
+    // the min changed so redraw the curve
+    //  mixercurvewidget::setCurve will trim any points below min
+    QList<double> points = getCurve();
+    setCurve(&points);
+}
+
+void MixerCurve::CurveMaxChanged(double value)
+{
+    setMax(value);
+
+    // the max changed so redraw the curve
+    //  mixercurvewidget::setCurve will trim any points above max
+    QList<double> points = getCurve();
+    setCurve(&points);
+}
+
+double MixerCurve::setRange(double min, double max)
+{
+    return m_curve->setRange(min, max);
+}
+
+void MixerCurve::showEvent(QShowEvent *event)
+{
+    Q_UNUSED(event)
+    // Thit fitInView method should only be called now, once the
+    // widget is shown, otherwise it cannot compute its values and
+    // the result is usually a ahrsbargraph that is way too small.
+    //fitInView(this, Qt::KeepAspectRatio);
+
+}
+
+void MixerCurve::resizeEvent(QResizeEvent* event)
+{
+    Q_UNUSED(event);
+    //fitInView(this, Qt::KeepAspectRatio);
 }
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
@ -2,21 +2,64 @@
 #define MIXERCURVE_H

 #include <QFrame>
+#include <QtGui/QWidget>
+#include <QList>
+#include <QTableWidget>
+
+#include "ui_mixercurve.h"
+#include "mixercurvewidget.h"
+#include "uavobjectwidgetutils_global.h"

 namespace Ui {
 class MixerCurve;
 }

-class MixerCurve : public QFrame
+class UAVOBJECTWIDGETUTILS_EXPORT MixerCurve : public QFrame
 {
    Q_OBJECT
    
 public:
    explicit MixerCurve(QWidget *parent = 0);
    ~MixerCurve();
-    
+
+
+    /* Enumeration options for ThrottleCurves */
+    typedef enum { MIXERCURVE_THROTTLE=0, MIXERCURVEPITCH=1 } MixerCurveType;
+
+    void initCurve (const QList<double>* points);
+    QList<double> getCurve();
+    void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
+    void setCurve(const QList<double>* points);
+    void setMin(double value);
+    double getMin();
+    void setMax(double value);
+    double getMax();
+    double getStep();
+    double setRange(double min, double max);
+
+
+signals:
+
+protected:
+    void showEvent(QShowEvent *event);
+    void resizeEvent(QResizeEvent *event);
+
+public slots:
+    void ResetCurve();
+    void GenerateCurve();
+    void UpdateSettings();
+
+private slots:
+    void CurveMinChanged(double value);
+    void CurveMaxChanged(double value);
+    void UpdateCurveSettings();
+
 private:
-    Ui::MixerCurve *ui;
+    Ui::MixerCurve* m_mixerUI;
+    MixerCurveWidget* m_curve;
+    QTableWidget* m_settings;
+    MixerCurveType m_curveType;
+
 };

 #endif // MIXERCURVE_H
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
@ -6,10 +6,28 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>322</width>
-    <height>300</height>
+    <width>437</width>
+    <height>317</height>
   </rect>
  </property>
+  <property name="minimumSize">
+   <size>
+    <width>365</width>
+    <height>306</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>500</width>
+    <height>500</height>
+   </size>
+  </property>
+  <property name="baseSize">
+   <size>
+    <width>300</width>
+    <height>300</height>
+   </size>
+  </property>
  <property name="windowTitle">
   <string>MixerCurve</string>
  </property>
@ -19,64 +37,282 @@
  <property name="frameShadow">
   <enum>QFrame::Raised</enum>
  </property>
-  <widget class="MixerCurveWidget" name="mixerCurveWidget" native="true">
+  <widget class="MixerCurveWidget" name="CurveWidget" native="true">
   <property name="geometry">
    <rect>
-     <x>80</x>
-     <y>40</y>
-     <width>221</width>
+     <x>140</x>
+     <y>10</y>
+     <width>291</width>
+     <height>300</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>261</width>
     <height>241</height>
-    </rect>
+    </size>
+   </property>
+   <property name="maximumSize">
+    <size>
+     <width>300</width>
+     <height>300</height>
+    </size>
   </property>
  </widget>
-  <widget class="QDoubleSpinBox" name="spinCurveMin">
+  <widget class="QDoubleSpinBox" name="CurveMin">
   <property name="geometry">
    <rect>
-     <x>20</x>
-     <y>260</y>
+     <x>70</x>
+     <y>240</y>
     <width>51</width>
     <height>22</height>
    </rect>
   </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
+   <property name="minimum">
+    <double>-1.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.010000000000000</double>
+   </property>
+   <property name="value">
+    <double>0.000000000000000</double>
+   </property>
  </widget>
-  <widget class="QDoubleSpinBox" name="spinCurveMax">
+  <widget class="QDoubleSpinBox" name="CurveMax">
   <property name="geometry">
    <rect>
-     <x>20</x>
+     <x>70</x>
     <y>40</y>
     <width>51</width>
     <height>22</height>
    </rect>
   </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
+   <property name="minimum">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.010000000000000</double>
+   </property>
+   <property name="value">
+    <double>1.000000000000000</double>
+   </property>
  </widget>
-  <widget class="QTableWidget" name="curveSettings">
+  <widget class="QTableWidget" name="CurveSettings">
   <property name="geometry">
    <rect>
-     <x>10</x>
-     <y>70</y>
-     <width>61</width>
-     <height>181</height>
+     <x>20</x>
+     <y>60</y>
+     <width>101</width>
+     <height>171</height>
    </rect>
   </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+   <property name="verticalScrollBarPolicy">
+    <enum>Qt::ScrollBarAlwaysOff</enum>
+   </property>
+   <property name="horizontalScrollBarPolicy">
+    <enum>Qt::ScrollBarAlwaysOff</enum>
+   </property>
+   <property name="autoScroll">
+    <bool>false</bool>
+   </property>
   <property name="rowCount">
    <number>5</number>
   </property>
   <property name="columnCount">
    <number>1</number>
   </property>
-   <row/>
-   <row/>
-   <row/>
-   <row/>
-   <row/>
-   <column/>
+   <row>
+    <property name="text">
+     <string>5</string>
+    </property>
+   </row>
+   <row>
+    <property name="text">
+     <string>4</string>
+    </property>
+   </row>
+   <row>
+    <property name="text">
+     <string>3</string>
+    </property>
+   </row>
+   <row>
+    <property name="text">
+     <string>2</string>
+    </property>
+   </row>
+   <row>
+    <property name="text">
+     <string>1</string>
+    </property>
+   </row>
+   <column>
+    <property name="text">
+     <string>Value</string>
+    </property>
+   </column>
+   <item row="0" column="0">
+    <property name="text">
+     <string>1.0</string>
+    </property>
+   </item>
+   <item row="1" column="0">
+    <property name="text">
+     <string>.75</string>
+    </property>
+   </item>
+   <item row="2" column="0">
+    <property name="text">
+     <string>.50</string>
+    </property>
+   </item>
+   <item row="3" column="0">
+    <property name="text">
+     <string>.25</string>
+    </property>
+   </item>
+   <item row="4" column="0">
+    <property name="text">
+     <string>.00</string>
+    </property>
+   </item>
+  </widget>
+  <widget class="QComboBox" name="CurveType">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>10</y>
+     <width>61</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <item>
+    <property name="text">
+     <string>Linear</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>Log</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>Exp</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>Flat</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>Step</string>
+    </property>
+   </item>
+  </widget>
+  <widget class="QPushButton" name="GenerateCurve">
+   <property name="geometry">
+    <rect>
+     <x>70</x>
+     <y>10</y>
+     <width>61</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Generate</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="minLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>240</y>
+     <width>41</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Min</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="maxLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>40</y>
+     <width>41</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Max</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="ResetCurve">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>290</y>
+     <width>75</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Reset</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="stepLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>260</y>
+     <width>41</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Step</string>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="CurveStep">
+   <property name="geometry">
+    <rect>
+     <x>70</x>
+     <y>260</y>
+     <width>51</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
  </widget>
 </widget>
 <customwidgets>
  <customwidget>
   <class>MixerCurveWidget</class>
   <extends>QWidget</extends>
-   <header>mixercurvewidget.h</header>
+   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
   <container>1</container>
  </customwidget>
 </customwidgets>
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@ -220,12 +220,13 @@ void MixerCurveWidget::setCurve(const QList<double>* points)
        Node* node = nodeList.at(i);
        node->setPos(w*i, h - (val*h));
        node->verticalMove(true);
+        node->update();
    }
    curveUpdating = false;

    update();

-    emit curveUpdated(points, (double)0);
+    emit curveUpdated();
 }


@ -248,19 +249,26 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 void MixerCurveWidget::itemMoved(double itemValue)
 {
    if (!curveUpdating) {
-        QList<double> curve = getCurve();
-        emit curveUpdated(&curve, itemValue);
+        emit curveUpdated();
    }
 }

 void MixerCurveWidget::setMin(double value)
 {
+    if (curveMin != value)
+        emit curveMinChanged(value);
+
    curveMin = value;
 }
+
 void MixerCurveWidget::setMax(double value)
 {
+    if (curveMax != value)
+        emit curveMaxChanged(value);
+
    curveMax = value;
 }
+
 double MixerCurveWidget::getMin()
 {
    return curveMin;
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@ -57,7 +57,9 @@ public:
   static const int NODE_NUMELEM = 5;

 signals:
-   void curveUpdated(const QList<double>* points, const double value);
+   void curveUpdated();
+   void curveMinChanged(double value);
+   void curveMaxChanged(double value);

 private slots: