From 898d3c980d27d01509e13fc9decee52024df5449 Mon Sep 17 00:00:00 2001
From: zedamota <josembarros@hotmail.com>
Date: Tue, 27 Sep 2011 22:10:39 +0100
Subject: [PATCH] Cosmetic changes to the Debug plugin One more fix to the
 mixer bug

---
 .../plugins/config/configairframewidget.cpp   | 26 ++++++++++++++++---
 .../src/plugins/config/configtaskwidget.cpp   |  1 +
 .../src/plugins/config/smartsavebutton.cpp    |  5 ++--
 .../plugins/debuggadget/debuggadgetwidget.cpp | 20 +++++++-------
 4 files changed, 36 insertions(+), 16 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
index 80e920c03..96393b381 100644
--- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
@@ -1522,6 +1522,16 @@ bool ConfigAirframeWidget::setupFrameVtail()
   */
 bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
 {
+    qDebug()<<"Mixer factors";
+    qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
+    qDebug()<<mixerFactors[1][0]<<" "<<mixerFactors[1][1]<<" "<<mixerFactors[1][2];
+    qDebug()<<mixerFactors[2][0]<<" "<<mixerFactors[2][1]<<" "<<mixerFactors[2][2];
+    qDebug()<<mixerFactors[3][0]<<" "<<mixerFactors[3][1]<<" "<<mixerFactors[3][2];
+    qDebug()<<mixerFactors[4][0]<<" "<<mixerFactors[4][1]<<" "<<mixerFactors[4][2];
+    qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
+    qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
+    qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
+
     UAVObjectField *field;
     QList<QComboBox*> mmList;
     mmList << m_aircraft->multiMotor1 << m_aircraft->multiMotor2 << m_aircraft->multiMotor3
@@ -1539,11 +1549,15 @@ bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
     double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
     double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
     double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
+    qDebug()<<QString("pFactor=%0 rFactor=%1 yFactor=%2").arg(pFactor).arg(rFactor).arg(yFactor);
     for (int i=0 ; i<8; i++) {
-        int channel = mmList.at(i)->currentIndex()-1;
-        if (channel > -1)
-            setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
-                       rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
+        if(mmList.at(i)->isEnabled())
+        {
+            int channel = mmList.at(i)->currentIndex()-1;
+            if (channel > -1)
+                setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
+                           rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
+        }
     }
 //    obj->updated();
     return true;
@@ -1555,6 +1569,7 @@ bool ConfigAirframeWidget::setupMixer(double mixerFactors[8][3])
   */
 void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
 {
+    qDebug()<<QString("Setup quad motor channel=%0 pitch=%1 roll=%2 yaw=%3").arg(channel).arg(pitch).arg(roll).arg(yaw);
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(obj);
     UAVObjectField *field = obj->getField(mixerTypes.at(channel));
@@ -1566,10 +1581,13 @@ void ConfigAirframeWidget::setupQuadMotor(int channel, double pitch, double roll
     field->setValue(127, ti);
     ti = field->getElementNames().indexOf("Roll");
     field->setValue(roll*127,ti);
+    qDebug()<<"Set roll="<<roll*127;
     ti = field->getElementNames().indexOf("Pitch");
     field->setValue(pitch*127,ti);
+    qDebug()<<"Set pitch="<<pitch*127;
     ti = field->getElementNames().indexOf("Yaw");
     field->setValue(yaw*127,ti);
+    qDebug()<<"Set yaw="<<yaw*127;
 }
 
 /**
diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
index 5e579c971..1bf45bd60 100644
--- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
@@ -128,6 +128,7 @@ ConfigTaskWidget::~ConfigTaskWidget()
 
 void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
 {
+    qDebug()<<"ConfigTaskWidget::saveObjectToSD";
     // saveObjectToSD is now handled by the UAVUtils plugin in one
     // central place (and one central queue)
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
diff --git a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp
index c74f22691..69ddb9cb2 100644
--- a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp
+++ b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp
@@ -49,7 +49,7 @@ void smartSaveButton::processClick()
         }
         if(up_result==false)
         {
-            //qDebug()<<"Object upload error:"<<obj->getName();
+            qDebug()<<"Object upload error:"<<obj->getName();
             error=true;
             continue;
         }
@@ -59,7 +59,7 @@ void smartSaveButton::processClick()
         {
             for(int i=0;i<3;++i)
             {
-                //qDebug()<<"try to save:"<<obj->getName();
+                qDebug()<<"try to save:"<<obj->getName();
                 connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
                 connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
                 utilMngr->saveObjectToSD(obj);
@@ -73,6 +73,7 @@ void smartSaveButton::processClick()
             }
             if(sv_result==false)
             {
+                qDebug()<<"failed to save:"<<obj->getName();
                 error=true;
             }
         }
diff --git a/ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.cpp b/ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.cpp
index f7c625a87..34043c806 100644
--- a/ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/debuggadget/debuggadgetwidget.cpp
@@ -38,6 +38,7 @@
 #include <QFileDialog>
 #include <QMessageBox>
 #include <QScrollBar>
+#include <QTime>
 DebugGadgetWidget::DebugGadgetWidget(QWidget *parent) : QLabel(parent)
 {
     m_config = new Ui_Form();
@@ -56,22 +57,21 @@ DebugGadgetWidget::~DebugGadgetWidget()
 
 void DebugGadgetWidget::dbgMsg(const QString &level, const QList<QVariant> &msgs)
 {
-    m_config->plainTextEdit->setTextColor(Qt::black);
-    foreach(QVariant str,msgs)
-    {
-        m_config->plainTextEdit->append(QString("[%0]%1").arg(level).arg(str.toString()));
-    }
+    m_config->plainTextEdit->setTextColor(Qt::red);
+
+        m_config->plainTextEdit->append(QString("%2[%0]%1").arg(level).arg(msgs[0].toString()).arg(QTime::currentTime().toString()));
+
     QScrollBar *sb = m_config->plainTextEdit->verticalScrollBar();
     sb->setValue(sb->maximum());
 }
 
 void DebugGadgetWidget::dbgMsgError(const QString &level, const QList<QVariant> &msgs)
 {
-    m_config->plainTextEdit->setTextColor(Qt::red);
-    foreach(QVariant str,msgs)
-    {
-        m_config->plainTextEdit->append(QString("[%0]%1").arg(level).arg(str.toString()));
-    }
+    m_config->plainTextEdit->setTextColor(Qt::black);
+
+
+        m_config->plainTextEdit->append(QString("%2[%0]%1").arg(level).arg(msgs[0].toString()).arg(QTime::currentTime().toString()));
+
     QScrollBar *sb = m_config->plainTextEdit->verticalScrollBar();
     sb->setValue(sb->maximum());
 }