LP-235 Adding GUI for failsafe configuration.

TODO: Fix text in Failsafe tab to have information about how failsafe works and is intended to be configured.

ground/gcs/src/plugins/config/config.pro

@@ -58,7 +58,8 @@ HEADERS += \
     calibration/gyrobiascalibrationmodel.h \
     calibration/calibrationuiutils.h \
     configoplinkwidget.h \
-    configrevonanohwwidget.h
+    configrevonanohwwidget.h \
+    failsafechannelform.h
 
 SOURCES += \
     configplugin.cpp \
@@ -99,7 +100,8 @@ SOURCES += \
     calibration/levelcalibrationmodel.cpp \
     calibration/gyrobiascalibrationmodel.cpp \
     configoplinkwidget.cpp \
-    configrevonanohwwidget.cpp
+    configrevonanohwwidget.cpp \
+    failsafechannelform.cpp
 
 FORMS += \
     airframe.ui \
@@ -124,6 +126,7 @@ FORMS += \
     mixercurve.ui \
     configrevohwwidget.ui \
     oplink.ui \
-    configrevonanohwwidget.ui
+    configrevonanohwwidget.ui \
+    failsafechannelform.ui
 
 RESOURCES += configgadget.qrc

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

@@ -42,6 +42,10 @@
 #include <QMessageBox>
 #include <utils/stylehelper.h>
 #include <QMessageBox>
+#include "inputchannelform.h"
+#include "ui_inputchannelform.h"
+#include "failsafechannelform.h"
+#include "ui_failsafechannelform.h"
 
 #define ACCESS_MIN_MOVE            -3
 #define ACCESS_MAX_MOVE            3
@@ -101,37 +105,39 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     addApplySaveButtons(ui->saveRCInputToRAM, ui->saveRCInputToSD);
 
     // Generate the rows of buttons in the input channel form GUI
-    unsigned int index   = 0;
-    unsigned int indexRT = 0;
+    quint32 index   = 0;
+    quint32 indexRT = 0;
     foreach(QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames()) {
         Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
-        InputChannelForm *form = new InputChannelForm(index, this);
-        form->setName(name);
 
-        form->moveTo(*(ui->channelLayout));
+        // Input channel setup
+        InputChannelForm *inputChannelForm = new InputChannelForm(index, this);
+        inputChannelForm->setName(name);
+
+        inputChannelForm->moveTo(*(ui->channelLayout));
 
         // The order of the following binding calls is important. Since the values will be populated
         // in reverse order of the binding order otherwise the 'Reversed' logic will floor the neutral value
         // to the max value ( which is smaller than the neutral value when reversed ) and the channel number
         // will not be set correctly.
-        addWidgetBinding("ManualControlSettings", "ChannelNumber", form->ui->channelNumber, index);
-        addWidgetBinding("ManualControlSettings", "ChannelGroups", form->ui->channelGroup, index);
+        addWidgetBinding("ManualControlSettings", "ChannelNumber", inputChannelForm->ui->channelNumber, index);
+        addWidgetBinding("ManualControlSettings", "ChannelGroups", inputChannelForm->ui->channelGroup, index);
         // Slider position based on real time Rcinput (allow monitoring)
-        addWidgetBinding("ManualControlCommand", "Channel", form->ui->channelNeutral, index);
+        addWidgetBinding("ManualControlCommand", "Channel", inputChannelForm->ui->channelNeutral, index);
         // Neutral value stored on board (SpinBox)
-        addWidgetBinding("ManualControlSettings", "ChannelNeutral", form->ui->neutralValue, index);
-        addWidgetBinding("ManualControlSettings", "ChannelMax", form->ui->channelMax, index);
-        addWidgetBinding("ManualControlSettings", "ChannelMin", form->ui->channelMin, index);
-        addWidgetBinding("ManualControlSettings", "ChannelMax", form->ui->channelMax, index);
+        addWidgetBinding("ManualControlSettings", "ChannelNeutral", inputChannelForm->ui->neutralValue, index);
+        addWidgetBinding("ManualControlSettings", "ChannelMax", inputChannelForm->ui->channelMax, index);
+        addWidgetBinding("ManualControlSettings", "ChannelMin", inputChannelForm->ui->channelMin, index);
+        addWidgetBinding("ManualControlSettings", "ChannelMax", inputChannelForm->ui->channelMax, index);
 
-        addWidget(form->ui->channelRev);
+        addWidget(inputChannelForm->ui->channelRev);
 
         // Reversing supported for some channels only
         bool reversable = ((index == ManualControlSettings::CHANNELGROUPS_THROTTLE) ||
                            (index == ManualControlSettings::CHANNELGROUPS_ROLL) ||
                            (index == ManualControlSettings::CHANNELGROUPS_PITCH) ||
                            (index == ManualControlSettings::CHANNELGROUPS_YAW));
-        form->ui->channelRev->setVisible(reversable);
+        inputChannelForm->ui->channelRev->setVisible(reversable);
 
         // Input filter response time fields supported for some channels only
         switch (index) {
@@ -143,21 +149,30 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
         case ManualControlSettings::CHANNELGROUPS_ACCESSORY1:
         case ManualControlSettings::CHANNELGROUPS_ACCESSORY2:
         case ManualControlSettings::CHANNELGROUPS_ACCESSORY3:
-            addWidgetBinding("ManualControlSettings", "ResponseTime", form->ui->channelResponseTime, indexRT);
+            addWidgetBinding("ManualControlSettings", "ResponseTime", inputChannelForm->ui->channelResponseTime, indexRT);
             ++indexRT;
             break;
         case ManualControlSettings::CHANNELGROUPS_THROTTLE:
         case ManualControlSettings::CHANNELGROUPS_FLIGHTMODE:
-            form->ui->channelResponseTime->setVisible(false);
+            inputChannelForm->ui->channelResponseTime->setVisible(false);
             break;
         default:
             Q_ASSERT(0);
             break;
         }
 
+        // Failsafe channels setup
+        FailsafeChannelForm *failsafeChannelForm = new FailsafeChannelForm(index, this);
+        addWidget(failsafeChannelForm->ui->channelValueSpinner);
+        failsafeChannelForm->setName(name);
+        failsafeChannelForm->moveTo(*(ui->failsafeChannelsLayout));
+        addWidgetBinding("ManualControlSettings", "FailsafeChannel", failsafeChannelForm->ui->channelValue, index, 0.01);
+
         ++index;
     }
 
+    addWidgetBinding("ManualControlSettings", "FailsafeFlightModeSwitchPosition", ui->failsafeFlightMode, 0, 1, true);
+
     addWidgetBinding("ManualControlSettings", "Deadband", ui->deadband, 0, 1);
     addWidgetBinding("ManualControlSettings", "DeadbandAssistedControl", ui->assistedControlDeadband, 0, 1);
 
@@ -208,6 +223,9 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     connect(ManualControlCommand::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(moveFMSlider()));
     connect(ManualControlSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updatePositionSlider()));
 
+    connect(ui->failsafeFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(failsafeFlightModeChanged(int)));
+    connect(ui->failsafeFlightModeCb, SIGNAL(toggled(bool)), this, SLOT(failsafeFlightModeCbToggled(bool)));
+
     addWidget(ui->configurationWizard);
     addWidget(ui->runCalibration);
 
@@ -215,6 +233,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
 
     populateWidgets();
     refreshWidgetsValues();
+
     // Connect the help button
     connect(ui->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
 
@@ -401,6 +420,15 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     updateEnableControls();
 }
 
+void ConfigInputWidget::buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits)
+{
+    if (combo == ui->failsafeFlightMode) {
+        ConfigTaskWidget::buildOptionComboBox(combo, flightModeSettingsObj->getField("FlightModePosition"), index, applyLimits);
+    } else {
+        ConfigTaskWidget::buildOptionComboBox(combo, field, index, applyLimits);
+    }
+}
+
 void ConfigInputWidget::resetTxControls()
 {
     m_txLeftStick->setTransform(m_txLeftStickOrig, false);
@@ -1998,3 +2026,14 @@ void ConfigInputWidget::forceOneFlightMode()
     manualSettingsData.FlightModeNumber = 1;
     manualSettingsObj->setData(manualSettingsData);
 }
+
+void ConfigInputWidget::failsafeFlightModeChanged(int index)
+{
+    ui->failsafeFlightMode->setEnabled(index != -1);
+    ui->failsafeFlightModeCb->setChecked(index != -1);
+}
+
+void ConfigInputWidget::failsafeFlightModeCbToggled(bool checked)
+{
+    ui->failsafeFlightMode->setCurrentIndex(checked ? 0 : -1);
+}

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

@@ -36,8 +36,6 @@
 #include "uavobject.h"
 #include <QWidget>
 #include <QList>
-#include "inputchannelform.h"
-#include "ui_inputchannelform.h"
 #include <QRadioButton>
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
@@ -229,8 +227,12 @@ private slots:
     void resetActuatorSettings();
     void forceOneFlightMode();
 
+    void failsafeFlightModeChanged(int index);
+    void failsafeFlightModeCbToggled(bool checked);
+
 protected:
     void resizeEvent(QResizeEvent *event);
+    void buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits);
 };
 
 #endif // ifndef CONFIGINPUTWIDGET_H

ground/gcs/src/plugins/config/failsafechannelform.cpp

@@ -0,0 +1,24 @@
+#include "failsafechannelform.h"
+#include "ui_failsafechannelform.h"
+
+FailsafeChannelForm::FailsafeChannelForm(const int index, QWidget *parent) :
+    ChannelForm(index, parent), ui(new Ui::FailsafeChannelForm)
+{
+    ui->setupUi(this);
+    disableMouseWheelEvents();
+}
+
+FailsafeChannelForm::~FailsafeChannelForm()
+{
+    delete ui;
+}
+
+QString FailsafeChannelForm::name()
+{
+    return ui->channelName->text();
+}
+
+void FailsafeChannelForm::setName(const QString &name)
+{
+    ui->channelName->setText(name);
+}

ground/gcs/src/plugins/config/failsafechannelform.h

@@ -0,0 +1,29 @@
+#ifndef FAILSAFECHANNELFORM_H
+#define FAILSAFECHANNELFORM_H
+
+#include "channelform.h"
+#include "configinputwidget.h"
+
+#include <QWidget>
+
+namespace Ui {
+class FailsafeChannelForm;
+}
+
+class FailsafeChannelForm : public ChannelForm {
+    Q_OBJECT
+
+public:
+    explicit FailsafeChannelForm(const int index, QWidget *parent = NULL);
+    ~FailsafeChannelForm();
+
+    friend class ConfigInputWidget;
+
+    virtual QString name();
+    virtual void setName(const QString &name);
+
+private:
+    Ui::FailsafeChannelForm *ui;
+};
+
+#endif // FAILSAFECHANNELFORM_H

ground/gcs/src/plugins/config/failsafechannelform.ui

@@ -0,0 +1,284 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>FailsafeChannelForm</class>
+ <widget class="QWidget" name="FailsafeChannelForm">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>993</width>
+    <height>57</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <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>
+   <property name="horizontalSpacing">
+    <number>12</number>
+   </property>
+   <item row="0" column="1">
+    <widget class="QLabel" name="legend4">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel value</string>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Channel Value relative to channel Neutral</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="3">
+    <widget class="QLabel" name="legend5">
+     <property name="toolTip">
+      <string>Channel neutral</string>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Value</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
+    <widget class="TextBubbleSlider" name="channelValue">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>200</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Channel input value (µs)</string>
+     </property>
+     <property name="accessibleName">
+      <string/>
+     </property>
+     <property name="accessibleDescription">
+      <string/>
+     </property>
+     <property name="inputMethodHints">
+      <set>Qt::ImhNone</set>
+     </property>
+     <property name="minimum">
+      <number>-100</number>
+     </property>
+     <property name="maximum">
+      <number>100</number>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="tickPosition">
+      <enum>QSlider::TicksBothSides</enum>
+     </property>
+     <property name="tickInterval">
+      <number>10</number>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="3">
+    <widget class="QSpinBox" name="channelValueSpinner">
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="suffix">
+      <string>%</string>
+     </property>
+     <property name="minimum">
+      <number>-100</number>
+     </property>
+     <property name="maximum">
+      <number>100</number>
+     </property>
+     <property name="value">
+      <number>0</number>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QLabel" name="legend0">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>-1</pointsize>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel function</string>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Function</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="channelName">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>100</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Text</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>TextBubbleSlider</class>
+   <extends>QSlider</extends>
+   <header>utils/textbubbleslider.h</header>
+  </customwidget>
+ </customwidgets>
+ <tabstops>
+  <tabstop>channelValue</tabstop>
+ </tabstops>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>channelValue</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>channelValueSpinner</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>530</x>
+     <y>43</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>965</x>
+     <y>43</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>channelValueSpinner</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>channelValue</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>965</x>
+     <y>43</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>530</x>
+     <y>43</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

ground/gcs/src/plugins/config/input.ui

@@ -21,7 +21,7 @@
      </property>
      <widget class="QWidget" name="RCInput">
       <attribute name="title">
-       <string>RC Input</string>
+       <string>Remote Control Input</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_11">
        <property name="spacing">
@@ -2125,6 +2125,272 @@ font:bold;</string>
        </item>
       </layout>
      </widget>
+     <widget class="QWidget" name="tab_failsafe">
+      <attribute name="title">
+       <string>Failsafe Settings</string>
+      </attribute>
+      <layout class="QHBoxLayout" name="horizontalLayout_3">
+       <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>
+        <widget class="QScrollArea" name="scrollArea_4">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_4">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1220</width>
+            <height>655</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_5">
+           <property name="leftMargin">
+            <number>12</number>
+           </property>
+           <property name="topMargin">
+            <number>12</number>
+           </property>
+           <property name="rightMargin">
+            <number>12</number>
+           </property>
+           <property name="bottomMargin">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox_8">
+             <property name="title">
+              <string>Failsafe Settings</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_12">
+              <property name="leftMargin">
+               <number>9</number>
+              </property>
+              <property name="topMargin">
+               <number>9</number>
+              </property>
+              <property name="rightMargin">
+               <number>9</number>
+              </property>
+              <property name="bottomMargin">
+               <number>9</number>
+              </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
+              <item row="1" column="0">
+               <layout class="QHBoxLayout" name="horizontalLayout_4">
+                <item>
+                 <widget class="QCheckBox" name="failsafeFlightModeCb">
+                  <property name="text">
+                   <string>On failsafe change flight mode to:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QComboBox" name="failsafeFlightMode">
+                  <property name="minimumSize">
+                   <size>
+                    <width>200</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>When triggering failsafe switch to this flight mode.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_8">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item row="3" column="0">
+               <layout class="QGridLayout" name="failsafeChannelsLayout">
+                <property name="topMargin">
+                 <number>10</number>
+                </property>
+               </layout>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label">
+                <property name="text">
+                 <string>Channel input settings on failsafe:</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_7">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="title">
+              <string>Failsafe Information</string>
+             </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout_6">
+              <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>
+               <widget class="QTextEdit" name="textEdit">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Expanding" vsizetype="Minimum">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="autoFormatting">
+                 <set>QTextEdit::AutoNone</set>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+                <property name="html">
+                 <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:'.SF NS Text'; font-size:13pt; font-weight:400; font-style:normal;&quot;&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;LibrePilot supports a security function to handle the situation when there is a loss of signal from the transmitter used to control the craft. This function is often called Failsafe.&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;The condition to trigger failsafe differs between the type of receiver used.&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;Bla bla bla...&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                </property>
+                <property name="acceptRichText">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
      <widget class="QWidget" name="tab_4">
       <attribute name="title">
        <string>Arming Settings</string>

ground/gcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp

@@ -1041,26 +1041,16 @@ void ConfigTaskWidget::checkWidgetsLimits(QWidget *widget, UAVObjectField *field
     }
 }
 
-void ConfigTaskWidget::loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, double scale)
+void ConfigTaskWidget::loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool applyLimits, double scale)
 {
     if (!widget || !field) {
         return;
     }
     if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
         cb->clear();
-        QStringList options = field->getOptions();
-
-        for (int optionIndex = 0; optionIndex < options.count(); optionIndex++) {
-            if (hasLimits) {
-                if (m_currentBoardId > -1 && field->isWithinLimits(options.at(optionIndex), index, m_currentBoardId)) {
-                    cb->addItem(options.at(optionIndex), QVariant(optionIndex));
-                }
-            } else {
-                cb->addItem(options.at(optionIndex), QVariant(optionIndex));
-            }
-        }
+        buildOptionComboBox(cb, field, index, applyLimits);
     }
-    if (!hasLimits) {
+    if (!applyLimits) {
         return;
     } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
         if (field->getMaxLimit(index).isValid()) {
@@ -1105,6 +1095,21 @@ void ConfigTaskWidget::updateEnableControls()
     enableControls(telMngr->isConnected());
 }
 
+void ConfigTaskWidget::buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits)
+{
+    QStringList options = field->getOptions();
+
+    for (int optionIndex = 0; optionIndex < options.count(); optionIndex++) {
+        if (applyLimits) {
+            if (m_currentBoardId > -1 && field->isWithinLimits(options.at(optionIndex), index, m_currentBoardId)) {
+                combo->addItem(options.at(optionIndex), QVariant(optionIndex));
+            }
+        } else {
+            combo->addItem(options.at(optionIndex), QVariant(optionIndex));
+        }
+    }
+}
+
 void ConfigTaskWidget::disableMouseWheelEvents()
 {
     // Disable mouse wheel events

ground/gcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h

@@ -241,7 +241,7 @@ private:
     void connectWidgetUpdatesToSlot(QWidget *widget, const char *function);
     void disconnectWidgetUpdatesToSlot(QWidget *widget, const char *function);
 
-    void loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, double sclale);
+    void loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool applyLimits, double scale);
 
     int fieldIndexFromElementName(QString objectName, QString fieldName, QString elementName);
 
@@ -262,6 +262,7 @@ protected:
     virtual void enableControls(bool enable);
     virtual QString mapObjectName(const QString objectName);
     virtual UAVObject *getObject(const QString name, quint32 instId = 0);
+    virtual void buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits);
     void checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, double scale);
     void updateEnableControls();
 };