Remove some redundant "elevon" stuff for now. Will come back later when proper "elevon + rudder" artwork exists. Currently no different from vtail anyway...

Enabled proper channel mixing settings inside the FixedWing wizard Output configuration screen. Attempt to set GUIConfigDataUnion to fixedwing

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp

@@ -86,7 +86,7 @@ ConfigFixedWingWidget::ConfigFixedWingWidget(QWidget *parent) :
     populateChannelComboBoxes();
 
     QStringList fixedWingTypes;
-    fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
+    fixedWingTypes << "Elevator aileron rudder" << "Vtail";
     m_aircraft->fixedWingType->addItems(fixedWingTypes);
 
     // Set default model to "Elevator aileron rudder"
@@ -134,23 +134,6 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
 
         m_aircraft->elevonSlider1->setEnabled(false);
         m_aircraft->elevonSlider2->setEnabled(false);
-    } else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
-        plane->setElementId("vtail");
-        setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
-        m_aircraft->fwAileron1Label->setText("Elevon 1");
-        m_aircraft->fwAileron2Label->setText("Elevon 2");
-        m_aircraft->fwElevator1ChannelBox->setEnabled(false);
-        m_aircraft->fwElevator2ChannelBox->setEnabled(false);
-        m_aircraft->fwRudder1ChannelBox->setEnabled(true);
-        m_aircraft->fwRudder2ChannelBox->setEnabled(true);
-
-        m_aircraft->fwElevator1Label->setText("Elevator 1");
-        m_aircraft->fwElevator2Label->setText("Elevator 2");
-        m_aircraft->elevonLabel1->setText("Roll");
-        m_aircraft->elevonLabel2->setText("Pitch");
-
-        m_aircraft->elevonSlider1->setEnabled(true);
-        m_aircraft->elevonSlider2->setEnabled(true);
     } else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
         plane->setElementId("vtail");
         setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
@@ -192,7 +175,7 @@ void ConfigFixedWingWidget::setupEnabledControls(QString frameType)
         }
     }
 
-    if (frameType == "Vtail" || frameType == "Elevon") {
+    if (frameType == "Vtail" || frameType == "vtail") {
         enableComboBoxes(this, CHANNELBOXNAME, 3, true);
     } else if (frameType == "aileron" || frameType == "Elevator aileron rudder") {
         enableComboBoxes(this, CHANNELBOXNAME, 4, true);
@@ -263,18 +246,9 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
     setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
     setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
 
-    if (frameType == "FixedWingElevon") {
+    if (frameType == "FixedWingVtail") {
-        // If the airframe is elevon, restore the slider setting
+        // If the airframe is vtail, restore the slider setting
         // Find the channel number for Elevon1 (FixedWingRoll1)
-        int channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
-        if (channel > -1) {
-            // If for some reason the actuators were incoherent, we might fail here, hence the check.
-            m_aircraft->elevonSlider1->setValue(
-                getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL) * 100);
-            m_aircraft->elevonSlider2->setValue(
-                getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH) * 100);
-        }
-    } else if (frameType == "FixedWingVtail") {
         int channel = m_aircraft->fwElevator1ChannelBox->currentIndex() - 1;
         if (channel > -1) {
             // If for some reason the actuators were incoherent, we might fail here, hence the check.
@@ -308,10 +282,7 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
     if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder") {
         airframeType = "FixedWing";
         setupFrameFixedWing(airframeType);
-    } else if (m_aircraft->fixedWingType->currentText() == "Elevon") {
+    } else if (m_aircraft->fixedWingType->currentText() == "vtail") {
-        airframeType = "FixedWingElevon";
-        setupFrameElevon(airframeType);
-    } else { // "Vtail"
         airframeType = "FixedWingVtail";
         setupFrameVtail(airframeType);
     }
@@ -404,76 +375,6 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
     return true;
 }
 
-/**
-   Setup Elevon
- */
-bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
-{
-    // Check coherence:
-    // Show any config errors in GUI
-    if (throwConfigError(airframeType)) {
-        return false;
-    }
-
-    GUIConfigDataUnion config = getConfigData();
-    resetActuators(&config);
-
-    config.fixedwing.FixedWingRoll1    = m_aircraft->fwAileron1ChannelBox->currentIndex();
-    config.fixedwing.FixedWingRoll2    = m_aircraft->fwAileron2ChannelBox->currentIndex();
-    config.fixedwing.FixedWingYaw1     = m_aircraft->fwRudder1ChannelBox->currentIndex();
-    config.fixedwing.FixedWingYaw2     = m_aircraft->fwRudder2ChannelBox->currentIndex();
-    config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
-
-    setConfigData(config);
-
-    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
-    Q_ASSERT(mixer);
-    resetMotorAndServoMixers(mixer);
-
-    // Save the curve:
-    // ... and compute the matrix:
-    // In order to make code a bit nicer, we assume:
-    // - Channel dropdowns start with 'None', then 0 to 7
-
-    // 1. Assign the servo/motor/none for each channel
-
-    double value;
-
-    // motor
-    int channel = m_aircraft->fwEngineChannelBox->currentIndex() - 1;
-    setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_MOTOR);
-    setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
-
-    // rudders
-    channel = m_aircraft->fwRudder1ChannelBox->currentIndex() - 1;
-    setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
-    setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
-
-    channel = m_aircraft->fwRudder2ChannelBox->currentIndex() - 1;
-    setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
-    setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
-
-    // ailerons
-    channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
-    if (channel > -1) {
-        setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
-        value   = (double)(m_aircraft->elevonSlider2->value() * 1.27);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
-        value   = (double)(m_aircraft->elevonSlider1->value() * 1.27);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, value);
-
-        channel = m_aircraft->fwAileron2ChannelBox->currentIndex() - 1;
-        setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
-        value   = (double)(m_aircraft->elevonSlider2->value() * 1.27);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH, value);
-        value   = (double)(m_aircraft->elevonSlider1->value() * 1.27);
-        setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, -value);
-    }
-
-    m_aircraft->fwStatusLabel->setText("Mixer generated");
-    return true;
-}
-
 /**
    Setup VTail
  */
@@ -592,27 +493,6 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
             m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
             m_aircraft->fwRudder1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
         }
-    } else if (airframeType == "FixedWingElevon") {
-        if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
-            m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
-            error = true;
-        } else {
-            m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
-        }
-
-        if (m_aircraft->fwAileron1ChannelBox->currentText() == "None") {
-            m_aircraft->fwAileron1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
-            error = true;
-        } else {
-            m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
-        }
-
-        if (m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
-            m_aircraft->fwAileron2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
-            error = true;
-        } else {
-            m_aircraft->fwAileron2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
-        }
     } else if (airframeType == "FixedWingVtail") {
         if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
             m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h

@@ -67,7 +67,6 @@ private:
     virtual void resetActuators(GUIConfigDataUnion *configData);
 
     bool setupFrameFixedWing(QString airframeType);
-    bool setupFrameElevon(QString airframeType);
     bool setupFrameVtail(QString airframeType);
 
     void updateAirframe(QString multiRotorType);

ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp

@@ -68,9 +68,11 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
     QStringList channelDesc;
     switch (systemSettingsData.AirframeType) {
     case SystemSettings::AIRFRAMETYPE_FIXEDWING:
+        channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
+        break;
     case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
+	// do nothing for elevon support for the time being. 
     case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
-        // fixed wing
         channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
         break;
     case SystemSettings::AIRFRAMETYPE_HELICP:
@@ -268,8 +270,7 @@ QString ConfigVehicleTypeWidget::frameCategory(QString frameType)
 {
     QString category;
 
-    if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingElevon"
+    if (frameType == "FixedWing" || frameType == "Elevator aileron rudder" || frameType == "FixedWingVtail" || frameType == "Vtail") {
-        || frameType == "Elevon" || frameType == "FixedWingVtail" || frameType == "Vtail") {
         category = "Fixed Wing";
     } else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
                || frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"

ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp

@@ -83,10 +83,10 @@ void FixedWingPage::resizeEvent(QResizeEvent *event)
 void FixedWingPage::setupFixedWingTypesCombo()
 {
     ui->typeCombo->addItem(tr("Aileron, Elevator, Rudder"), SetupWizard::FIXED_WING_AILERON);
-    m_descriptions << tr("A description for aileron driven fixed wing stuff goes here... ");
+    m_descriptions << tr("This setup currently expects a traditional 4 channel setup including two ailerons (not connected by Y adapter), an elevator and a rudder. ");
 
-    ui->typeCombo->addItem(tr("V-Tail, or Elevon"), SetupWizard::FIXED_WING_VTAIL);
+    ui->typeCombo->addItem(tr("V-Tail"), SetupWizard::FIXED_WING_VTAIL);
-    m_descriptions << tr("A description for vtail driven fixed wing stuff goes here... ");
+    m_descriptions << tr("This setup currently expects a flying-wing setup, an elevon plus rudder setup is not yet supported. Setup should include only two elevons, and should explicitly not include a rudder.");
 }
 
 void FixedWingPage::updateAvailableTypes()

ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp

@@ -147,10 +147,29 @@ void OutputCalibrationPage::setupVehicle()
            ui->vehicleView->setScene(m_vehicleScene);
     	}
 	qDebug() << "no clue what a wizard index is!";
-        m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
+        m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1;
         m_vehicleElementIds << "fixed-aileron" << "aileron";
         m_vehicleHighlightElementIndexes << 0 << 1;
-        m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
+        m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4;
+
+	// see Servo city for an example. 1500 usec is center on MS85mg for example. - http://www.servocity.com/html/hs-85mg__mighty_micro.html
+        // make sure Aileron servo one does not go to an extreme value
+        m_actuatorSettings[1].channelMin     = 1500;
+        m_actuatorSettings[1].channelNeutral = 1500;
+        m_actuatorSettings[1].channelMax     = 1500;
+        // make sure Aileron servo two does not go to an extreme value
+        m_actuatorSettings[2].channelMin     = 1500;
+        m_actuatorSettings[2].channelNeutral = 1500;
+        m_actuatorSettings[2].channelMax     = 1500;
+        // make sure Elevator servo one does not go to an extreme value
+        m_actuatorSettings[3].channelMin     = 1500;
+        m_actuatorSettings[4].channelNeutral = 1500;
+        m_actuatorSettings[3].channelMax     = 1500;
+        // make sure Rudder servo one does not go to an extreme value
+        m_actuatorSettings[4].channelMin     = 1500;
+        m_actuatorSettings[4].channelNeutral = 1500;
+        m_actuatorSettings[4].channelMax     = 1500;
+
         getWizard()->setActuatorSettings(m_actuatorSettings);
         break;
     case SetupWizard::FIXED_WING_VTAIL:
@@ -160,10 +179,20 @@ void OutputCalibrationPage::setupVehicle()
            ui->vehicleView->setScene(m_vehicleScene);
     	}
 	qDebug() << "no clue what a wizard index is!";
-        m_wizardIndexes << 0 << 1 << 1 << 1 << 1 << 1 << 1;
+        m_wizardIndexes << 0 << 1 << 1 << 1;
         m_vehicleElementIds << "fixed-vtail" << "vtail";
         m_vehicleHighlightElementIndexes << 0 << 1;
-        m_channelIndex << 0 << 0 << 1 << 2 << 3 << 4 << 5;
+        m_channelIndex << 0 << 0 << 1 << 2;
+
+        // make sure elevon servo one does not go to an extreme value
+        m_actuatorSettings[1].channelMin     = 1500;
+        m_actuatorSettings[1].channelNeutral = 1500;
+        m_actuatorSettings[1].channelMax     = 1500;
+        // make sure elevon servo two does not go to an extreme value
+        m_actuatorSettings[2].channelMin     = 1500;
+        m_actuatorSettings[2].channelNeutral = 1500;
+        m_actuatorSettings[2].channelMax     = 1500;
+
         getWizard()->setActuatorSettings(m_actuatorSettings);
         break;
     default:

ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp

@@ -219,9 +219,6 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
         case VehicleConfigurationSource::FIXED_WING_AILERON:
             setupAileron();
             break;
-/*      case VehicleConfigurationSource::FIXED_WING_ELEVON:
-            setupElevon();
-            break; */ 
         case VehicleConfigurationSource::FIXED_WING_VTAIL:
             setupVtail();
             break;
@@ -1304,7 +1301,6 @@ void VehicleConfigurationHelper::setupOctoCopter()
     applyMultiGUISettings(frame, guiSettings);
 }
 
-// This is all wrong... I just copied the Tricopter stuff 
 void VehicleConfigurationHelper::setupVtail()
 {
 
@@ -1314,41 +1310,32 @@ void VehicleConfigurationHelper::setupVtail()
     channels[0].type      = MIXER_TYPE_MOTOR;
     channels[0].throttle1 = 100;
     channels[0].throttle2 = 0;
-    channels[0].roll      = 100;
+    channels[0].roll      = 0;
-    channels[0].pitch     = 50;
+    channels[0].pitch     = 0;
     channels[0].yaw = 0;
 
-    channels[1].type      = MIXER_TYPE_MOTOR;
+    channels[1].type      = MIXER_TYPE_SERVO;
-    channels[1].throttle1 = 100;
+    channels[1].throttle1 = 0;
     channels[1].throttle2 = 0;
     channels[1].roll      = -100;
     channels[1].pitch     = 50;
     channels[1].yaw = 0;
 
-    channels[2].type      = MIXER_TYPE_MOTOR;
+    channels[2].type      = MIXER_TYPE_SERVO;
-    channels[2].throttle1 = 100;
+    channels[2].throttle1 = 0;
     channels[2].throttle2 = 0;
-    channels[2].roll      = 0;
+    channels[2].roll      = 100;
-    channels[2].pitch     = -100;
+    channels[2].pitch     = -50;
     channels[2].yaw = 0;
 
-    channels[3].type      = MIXER_TYPE_SERVO;
+    guiSettings.fixedwing.FixedWingThrottle = 1;
-    channels[3].throttle1 = 0;
+    guiSettings.fixedwing.FixedWingRoll1 = 2;
-    channels[3].throttle2 = 0;
+    guiSettings.fixedwing.FixedWingRoll2  = 3;
-    channels[3].roll      = 0;
-    channels[3].pitch     = 0;
-    channels[3].yaw = 100;
-
-    guiSettings.multi.VTOLMotorNW = 1;
-    guiSettings.multi.VTOLMotorNE = 2;
-    guiSettings.multi.VTOLMotorS  = 3;
-    guiSettings.multi.TRIYaw = 4;
 
     applyMixerConfiguration(channels);
     applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL, guiSettings);
 }
 
-// This is all wrong... I just copied the Tricopter stuff 
 void VehicleConfigurationHelper::setupAileron()
 {
     // Typical vehicle setup
@@ -1362,24 +1349,31 @@ void VehicleConfigurationHelper::setupAileron()
     channels[0].type      = MIXER_TYPE_MOTOR;
     channels[0].throttle1 = 100;
     channels[0].throttle2 = 0;
-    channels[0].roll      = 100;
+    channels[0].roll      = 0;
-    channels[0].pitch     = 50;
+    channels[0].pitch     = 0;
     channels[0].yaw = 0;
 
-    channels[1].type      = MIXER_TYPE_MOTOR;
+    channels[1].type      = MIXER_TYPE_SERVO;
-    channels[1].throttle1 = 100;
+    channels[1].throttle1 = 0;
     channels[1].throttle2 = 0;
     channels[1].roll      = -100;
-    channels[1].pitch     = 50;
+    channels[1].pitch     = 0;
     channels[1].yaw = 0;
 
-    channels[2].type      = MIXER_TYPE_MOTOR;
+    channels[2].type      = MIXER_TYPE_SERVO;
-    channels[2].throttle1 = 100;
+    channels[2].throttle1 = 0;
     channels[2].throttle2 = 0;
-    channels[2].roll      = 0;
+    channels[2].roll      = 100;
-    channels[2].pitch     = -100;
+    channels[2].pitch     = 0;
     channels[2].yaw = 0;
 
+    channels[3].type      = MIXER_TYPE_SERVO;
+    channels[3].throttle1 = 0;
+    channels[3].throttle2 = 0;
+    channels[3].roll      = 0;
+    channels[3].pitch     = 100;
+    channels[3].yaw = 0;
+
     channels[3].type      = MIXER_TYPE_SERVO;
     channels[3].throttle1 = 0;
     channels[3].throttle2 = 0;
@@ -1387,60 +1381,12 @@ void VehicleConfigurationHelper::setupAileron()
     channels[3].pitch     = 0;
     channels[3].yaw = 100;
 
-    guiSettings.multi.VTOLMotorNW = 1;
+    guiSettings.fixedwing.FixedWingThrottle = 1;
-    guiSettings.multi.VTOLMotorNE = 2;
+    guiSettings.fixedwing.FixedWingRoll1 = 2;
-    guiSettings.multi.VTOLMotorS  = 3;
+    guiSettings.fixedwing.FixedWingRoll2  = 3;
-    guiSettings.multi.TRIYaw = 4;
+    guiSettings.fixedwing.FixedWingPitch1 = 4;
+    guiSettings.fixedwing.FixedWingYaw1  = 5;
 
     applyMixerConfiguration(channels);
-    applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL, guiSettings);
+    applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGAILERON, guiSettings);
 }
-
-// This is all wrong... I just copied the Tricopter stuff 
-void VehicleConfigurationHelper::setupElevon()
-{
-    // Typical vehicle setup
-    // 1. Setup mixer data
-    // 2. Setup GUI data
-    // 3. Apply changes
-
-    mixerChannelSettings channels[10];
-    GUIConfigDataUnion guiSettings = getGUIConfigData();
-
-    channels[0].type      = MIXER_TYPE_MOTOR;
-    channels[0].throttle1 = 100;
-    channels[0].throttle2 = 0;
-    channels[0].roll      = 100;
-    channels[0].pitch     = 50;
-    channels[0].yaw = 0;
-
-    channels[1].type      = MIXER_TYPE_MOTOR;
-    channels[1].throttle1 = 100;
-    channels[1].throttle2 = 0;
-    channels[1].roll      = -100;
-    channels[1].pitch     = 50;
-    channels[1].yaw = 0;
-
-    channels[2].type      = MIXER_TYPE_MOTOR;
-    channels[2].throttle1 = 100;
-    channels[2].throttle2 = 0;
-    channels[2].roll      = 0;
-    channels[2].pitch     = -100;
-    channels[2].yaw = 0;
-
-    channels[3].type      = MIXER_TYPE_SERVO;
-    channels[3].throttle1 = 0;
-    channels[3].throttle2 = 0;
-    channels[3].roll      = 0;
-    channels[3].pitch     = 0;
-    channels[3].yaw = 100;
-
-    guiSettings.multi.VTOLMotorNW = 1;
-    guiSettings.multi.VTOLMotorNE = 2;
-    guiSettings.multi.VTOLMotorS  = 3;
-    guiSettings.multi.TRIYaw = 4;
-
-    applyMixerConfiguration(channels);
-    applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON, guiSettings);
-}
-

ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.h

@@ -105,7 +105,6 @@ private:
     void setupOctoCopter();
     void setupVtail();
     void setupAileron();
-    void setupElevon();
 
 private slots:
     void uAVOTransactionCompleted(UAVObject *object, bool success);