From 86f8997e8881964b37295b4337f1f6293c98e771 Mon Sep 17 00:00:00 2001
From: Fredrik Larson <hayvosh@openpilot.org>
Date: Sun, 24 Aug 2014 01:52:41 +1000
Subject: [PATCH] Start basics of config plugin page for FW clean up, add
 support for single servo aileron fixedwings

---
 .../src/plugins/config/airframe_fixedwing.ui  | 43 ++++++------
 .../src/plugins/config/airframe_multirotor.ui | 67 +++++++++++++++----
 .../configfixedwingwidget.cpp                 | 30 ++++++---
 .../config/configvehicletypewidget.cpp        |  8 +--
 4 files changed, 104 insertions(+), 44 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe_fixedwing.ui b/ground/openpilotgcs/src/plugins/config/airframe_fixedwing.ui
index 176b5daca..200e1496a 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe_fixedwing.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe_fixedwing.ui
@@ -14,19 +14,22 @@
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_10">
-   <property name="margin">
+   <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>
     <layout class="QHBoxLayout" name="horizontalLayout_2">
      <item>
-      <widget class="QLabel" name="label_5">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
+      <widget class="QLabel" name="label">
        <property name="font">
         <font>
          <weight>75</weight>
@@ -34,17 +37,9 @@
         </font>
        </property>
        <property name="text">
-        <string>Airplane type:</string>
+        <string>Airframe Type:</string>
        </property>
       </widget>
-       <widget class="QGraphicsView" name="planeShape">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-       </widget>
      </item>
      <item>
       <widget class="QComboBox" name="fixedWingType"/>
@@ -64,6 +59,16 @@
      </item>
     </layout>
    </item>
+   <item>
+    <widget class="QGraphicsView" name="planeShape">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+    </widget>
+   </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_4">
      <property name="rightMargin">
@@ -475,9 +480,7 @@ margin:1px;</string>
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
+ <resources/>
  <connections>
   <connection>
    <sender>elevonSlider1</sender>
diff --git a/ground/openpilotgcs/src/plugins/config/airframe_multirotor.ui b/ground/openpilotgcs/src/plugins/config/airframe_multirotor.ui
index f740d7df3..8d20353cd 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe_multirotor.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe_multirotor.ui
@@ -14,7 +14,16 @@
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
-   <property name="margin">
+   <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 row="2" column="0">
@@ -32,10 +41,19 @@
       </size>
      </property>
      <property name="title">
-      <string>Frame</string>
+      <string>Airframe</string>
      </property>
      <layout class="QVBoxLayout" name="verticalLayout_8" stretch="1">
-      <property name="margin">
+      <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>
@@ -90,7 +108,16 @@
       <string>Throttle Curve</string>
      </property>
      <layout class="QVBoxLayout" name="verticalLayout_9">
-      <property name="margin">
+      <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>
@@ -136,12 +163,21 @@
       <string>Mix Level</string>
      </property>
      <layout class="QGridLayout" name="gridLayout_2">
+      <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>0</number>
       </property>
-      <property name="margin">
-       <number>9</number>
-      </property>
       <item row="0" column="0">
        <layout class="QVBoxLayout" name="verticalLayout">
         <item>
@@ -375,7 +411,7 @@ Typical value is 50% for + or X configuration on quads.</string>
         </font>
        </property>
        <property name="text">
-        <string>Frame Type:</string>
+        <string>Airframe Type:</string>
        </property>
       </widget>
      </item>
@@ -476,7 +512,16 @@ Typical value is 50% for + or X configuration on quads.</string>
       <string>Motor output channels</string>
      </property>
      <layout class="QGridLayout" name="gridLayout_7" columnstretch="1,1,0,0,1">
-      <property name="margin">
+      <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="0" column="0" rowspan="5">
@@ -801,9 +846,7 @@ margin:1px;</string>
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
+ <resources/>
  <connections>
   <connection>
    <sender>mrRollMixLevel</sender>
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index 25306c0af..1a464524b 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -53,11 +53,11 @@ ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
     populateChannelComboBoxes();
 
     QStringList fixedWingTypes;
-    fixedWingTypes << "Elevator aileron rudder" << "Elevon";
+    fixedWingTypes << "Aileron Dual Servo" << "Aileron Single Servo" << "Elevon";
     m_aircraft->fixedWingType->addItems(fixedWingTypes);
 
-    // Set default model to "Elevator aileron rudder"
-    m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
+    // Set default model to "Aileron Dual Servo"
+    m_aircraft->fixedWingType->setCurrentIndex(m_aircraft->fixedWingType->findText("Aileron Dual Servo"));
 
     setupUI(m_aircraft->fixedWingType->currentText());
 
@@ -135,9 +135,9 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
 
     qDebug() << "Current Aircraft type: \n" << m_aircraft->fixedWingType->currentText();
 
-    if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") {
+    if (frameType == "FixedWing" || frameType == "Aileron Dual Servo") {
         plane->setElementId("aileron");
-        setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevator aileron rudder"));
+        setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Aileron Dual Servo"));
         resetChannelboxesAndSliders();
 
         m_aircraft->fwRudder1ChannelBox->setEnabled(true);
@@ -151,7 +151,21 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
         m_aircraft->fwAileron2Label->setText("Aileron 2");
         m_aircraft->fwElevator1Label->setText("Elevator 1");
         m_aircraft->fwElevator2Label->setText("Elevator 2");
+    } else if (frameType == "Aileron Single Servo") {
+        plane->setElementId("aileron-single");
+        setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Aileron Single Servo"));
+        resetChannelboxesAndSliders();
+        m_aircraft->fwRudder1ChannelBox->setEnabled(true);
+        m_aircraft->fwRudder2ChannelBox->setEnabled(true);
+        m_aircraft->fwElevator1ChannelBox->setEnabled(true);
+        m_aircraft->fwElevator2ChannelBox->setEnabled(true);
+        m_aircraft->fwAileron1ChannelBox->setEnabled(true);
+        m_aircraft->fwAileron2ChannelBox->setEnabled(false);
 
+        m_aircraft->fwAileron1Label->setText("Aileron 1");
+        m_aircraft->fwAileron2Label->setText("Aileron 2");
+        m_aircraft->fwElevator1Label->setText("Elevator 1");
+        m_aircraft->fwElevator2Label->setText("Elevator 2");
     } else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
 	// do nothing for now
     } else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
@@ -202,7 +216,7 @@ void ConfigFixedWingWidget::setupEnabledControls(QString frameType)
         // enableComboBoxes(this, CHANNELBOXNAME, 3, true);
     } else if (frameType == "Elevon" || frameType == "Elevon") {
         enableComboBoxes(this, CHANNELBOXNAME, 3, true);
-    } else if (frameType == "aileron" || frameType == "Elevator aileron rudder") {
+    } else if (frameType == "aileron" || frameType == "Aileron Dual Servo" || frameType == "Aileron Single Servo") {
         enableComboBoxes(this, CHANNELBOXNAME, 4, true);
     } 
 }
@@ -300,7 +314,7 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
     QString airframeType;
     QList<QString> motor_servo_List;
 
-    if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder") {
+    if (m_aircraft->fixedWingType->currentText() == "Aileron Dual Servo" || "aileron-single") {
         airframeType = "FixedWing";
         setupFrameFixedWing(airframeType);
 
@@ -312,7 +326,7 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
 
 	m_aircraft->fwStatusLabel->setText(tr("Configuration OK"));
 
-    } 
+    }
     else if (m_aircraft->fixedWingType->currentText() == "elevon") {
         airframeType = "FixedWingElevon";
         setupFrameElevon(airframeType);
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 50589ae4f..575499753 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -198,8 +198,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
     UAVObjectField *field = system->getField(QString("AirframeType"));
     Q_ASSERT(field);
 
-    // At this stage, we will need to have some hardcoded settings in this code, this
-    // is not ideal, but there you go.
+    // At this stage, we will need to have some hardcoded settings in this code
     QString frameType = field->getValue().toString();
 
     int category = frameCategory(frameType);
@@ -262,8 +261,9 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
 
 int ConfigVehicleTypeWidget::frameCategory(QString frameType)
 {
-    if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
-        || frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
+    if (frameType == "FixedWing" || frameType == "Aileron Dual Servo" || frameType == "Aileron Single Servo"
+        || frameType == "FixedWingElevon" || frameType == "Elevon" || frameType == "FixedWingVtail"
+        || frameType == "Vtail") {
         return ConfigVehicleTypeWidget::FIXED_WING;
     } else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
                || frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"