From a246c0f9adc4935d54c8c1ef9654eb75ddf875f6 Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Tue, 28 Sep 2010 19:44:55 +0000
Subject: [PATCH] OP-138 Corrected inconsistency with Quad-X read/write.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1792 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/config/airframe.ui         | 208 ++++-
 .../plugins/config/configairframewidget.cpp   |  38 +-
 .../src/plugins/config/images/quad-shapes.svg | 714 +++++++++++++++++-
 3 files changed, 939 insertions(+), 21 deletions(-)

diff --git a/ground/src/plugins/config/airframe.ui b/ground/src/plugins/config/airframe.ui
index a3503d437..e4785427f 100644
--- a/ground/src/plugins/config/airframe.ui
+++ b/ground/src/plugins/config/airframe.ui
@@ -69,7 +69,7 @@
       <item>
        <widget class="QStackedWidget" name="stackedWidget">
         <property name="currentIndex">
-         <number>1</number>
+         <number>3</number>
         </property>
         <widget class="QWidget" name="fixedWing">
          <property name="enabled">
@@ -887,11 +887,207 @@
         <widget class="QWidget" name="custom">
          <layout class="QVBoxLayout" name="verticalLayout_9">
           <item>
-           <widget class="QLabel" name="label_2">
-            <property name="text">
-             <string>Custom / Advanced setup UI</string>
-            </property>
-           </widget>
+           <layout class="QVBoxLayout" name="verticalLayout_16">
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_13">
+              <item>
+               <layout class="QFormLayout" name="formLayout_8">
+                <item row="0" column="0">
+                 <widget class="QLabel" name="label_2">
+                  <property name="text">
+                   <string>Channel1</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QComboBox" name="comboBox"/>
+                </item>
+                <item row="1" column="0">
+                 <widget class="QLabel" name="label_29">
+                  <property name="text">
+                   <string>Channel 2</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <widget class="QComboBox" name="comboBox_5"/>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <layout class="QFormLayout" name="formLayout_9">
+                <property name="fieldGrowthPolicy">
+                 <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                </property>
+                <item row="0" column="0">
+                 <widget class="QLabel" name="label_26">
+                  <property name="text">
+                   <string>Channel 3</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QComboBox" name="comboBox_3"/>
+                </item>
+                <item row="1" column="0">
+                 <widget class="QLabel" name="label_30">
+                  <property name="text">
+                   <string>Channel 4</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <widget class="QComboBox" name="comboBox_6"/>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <layout class="QFormLayout" name="formLayout_11">
+                <item row="0" column="0">
+                 <widget class="QLabel" name="label_28">
+                  <property name="text">
+                   <string>Channel 5</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QComboBox" name="comboBox_4"/>
+                </item>
+                <item row="1" column="0">
+                 <widget class="QLabel" name="label_31">
+                  <property name="text">
+                   <string>Channel 6</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <widget class="QComboBox" name="comboBox_7"/>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <layout class="QFormLayout" name="formLayout_5">
+                <property name="fieldGrowthPolicy">
+                 <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                </property>
+                <item row="0" column="0">
+                 <widget class="QLabel" name="label_27">
+                  <property name="text">
+                   <string>Channel 7</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QComboBox" name="comboBox_2"/>
+                </item>
+                <item row="1" column="0">
+                 <widget class="QLabel" name="label_32">
+                  <property name="text">
+                   <string>Channel 8</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <widget class="QComboBox" name="comboBox_8"/>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_14">
+              <item>
+               <widget class="MixerCurveWidget" name="widget_2" native="true">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>150</width>
+                  <height>150</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>200</width>
+                  <height>200</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="MixerCurveWidget" name="widget" native="true">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>150</width>
+                  <height>150</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>200</width>
+                  <height>200</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <layout class="QFormLayout" name="formLayout_12">
+                <item row="0" column="0">
+                 <widget class="QLabel" name="label_34">
+                  <property name="text">
+                   <string>FeedForward</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QSlider" name="horizontalSlider">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="0">
+                 <widget class="QLabel" name="label_35">
+                  <property name="text">
+                   <string>AccelTime</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <widget class="QDoubleSpinBox" name="doubleSpinBox"/>
+                </item>
+                <item row="2" column="0">
+                 <widget class="QLabel" name="label_36">
+                  <property name="text">
+                   <string>DecelTime</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="1">
+                 <widget class="QDoubleSpinBox" name="doubleSpinBox_2"/>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_33">
+              <property name="text">
+               <string>TextLabel</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
           </item>
          </layout>
         </widget>
diff --git a/ground/src/plugins/config/configairframewidget.cpp b/ground/src/plugins/config/configairframewidget.cpp
index aedbaa767..49f2b91d9 100644
--- a/ground/src/plugins/config/configairframewidget.cpp
+++ b/ground/src/plugins/config/configairframewidget.cpp
@@ -277,22 +277,40 @@ void ConfigAirframeWidget::requestAircraftUpdate()
             Q_ASSERT(field);
             m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
         } else if (frameType == "QuadX") {
-            // Motors 1/2/3/4 are: NE / SE / SW / NW
-            field = obj->getField(QString("VTOLMotorNE"));
+            // Motors 1/2/3/4 are: NW / NE / SE / SW
+            field = obj->getField(QString("VTOLMotorNW"));
             Q_ASSERT(field);
             m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
-            field = obj->getField(QString("VTOLMotorSE"));
+            field = obj->getField(QString("VTOLMotorNE"));
             Q_ASSERT(field);
             m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
-            field = obj->getField(QString("VTOLMotorSW"));
+            field = obj->getField(QString("VTOLMotorSE"));
             Q_ASSERT(field);
             m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
-            field = obj->getField(QString("VTOLMotorNW"));
+            field = obj->getField(QString("VTOLMotorSW"));
             Q_ASSERT(field);
             m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
 
         } else if (frameType == "Hexa") {
-            // Motors 1/2/3 4/5/6 are: ???
+            // Motors 1/2/3 4/5/6 are: NW / N / NE and SE / S / SW
+            field = obj->getField(QString("VTOLMotorNW"));
+            Q_ASSERT(field);
+            m_aircraft->multiMotor1->setCurrentIndex(m_aircraft->multiMotor1->findText(field->getValue().toString()));
+            field = obj->getField(QString("VTOLMotorN"));
+            Q_ASSERT(field);
+            m_aircraft->multiMotor2->setCurrentIndex(m_aircraft->multiMotor2->findText(field->getValue().toString()));
+            field = obj->getField(QString("VTOLMotorNE"));
+            Q_ASSERT(field);
+            m_aircraft->multiMotor3->setCurrentIndex(m_aircraft->multiMotor3->findText(field->getValue().toString()));
+            field = obj->getField(QString("VTOLMotorSE"));
+            Q_ASSERT(field);
+            m_aircraft->multiMotor4->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
+            field = obj->getField(QString("VTOLMotorS"));
+            Q_ASSERT(field);
+            m_aircraft->multiMotor5->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
+            field = obj->getField(QString("VTOLMotorSW"));
+            Q_ASSERT(field);
+            m_aircraft->multiMotor6->setCurrentIndex(m_aircraft->multiMotor4->findText(field->getValue().toString()));
         } else if (frameType == "Octo") {
             // Motors 1 to 8 are N / NE / E / etc
             field = obj->getField(QString("VTOLMotorN"));
@@ -402,6 +420,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
         m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
         m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad X"));
         quad->setElementId("quad-X");
+        m_aircraft->quadShape->setSceneRect(quad->boundingRect());
         m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
         m_aircraft->multiMotor5->setEnabled(false);
         m_aircraft->multiMotor6->setEnabled(false);
@@ -411,6 +430,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
         m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
         m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Quad +"));
         quad->setElementId("quad-plus");
+        m_aircraft->quadShape->setSceneRect(quad->boundingRect());
         m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
         m_aircraft->multiMotor5->setEnabled(false);
         m_aircraft->multiMotor6->setEnabled(false);
@@ -419,6 +439,9 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
     } else if (frameType == "Hexa" || frameType == "Hexacopter") {
         m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
         m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Hexacopter"));
+        quad->setElementId("quad-hexa");
+        m_aircraft->quadShape->setSceneRect(quad->boundingRect());
+        m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
         m_aircraft->multiMotor5->setEnabled(true);
         m_aircraft->multiMotor6->setEnabled(true);
         m_aircraft->multiMotor7->setEnabled(false);
@@ -426,6 +449,9 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
     } else if (frameType == "Octo" || frameType == "Octocopter") {
         m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Multirotor"));
         m_aircraft->multirotorFrameType->setCurrentIndex(m_aircraft->multirotorFrameType->findText("Octocopter"));
+        quad->setElementId("quad-octo");
+        m_aircraft->quadShape->setSceneRect(quad->boundingRect());
+        m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
         m_aircraft->multiMotor5->setEnabled(true);
         m_aircraft->multiMotor6->setEnabled(true);
         m_aircraft->multiMotor7->setEnabled(true);
diff --git a/ground/src/plugins/config/images/quad-shapes.svg b/ground/src/plugins/config/images/quad-shapes.svg
index 453152aff..5b5a3035e 100644
--- a/ground/src/plugins/config/images/quad-shapes.svg
+++ b/ground/src/plugins/config/images/quad-shapes.svg
@@ -32,9 +32,9 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.979899"
-     inkscape:cx="400.42368"
-     inkscape:cy="914.60167"
+     inkscape:zoom="0.9899495"
+     inkscape:cx="338.04953"
+     inkscape:cy="818.03268"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
@@ -53,7 +53,7 @@
        id="guide2927" />
     <sodipodi:guide
        orientation="0,1"
-       position="386.38335,864.69058"
+       position="242.85714,781.42857"
        id="guide2929" />
     <sodipodi:guide
        orientation="1,0"
@@ -65,12 +65,20 @@
        id="guide3709" />
     <sodipodi:guide
        orientation="1,0"
-       position="88.571429,923.57143"
+       position="90.714285,837.14285"
        id="guide3711" />
     <sodipodi:guide
        orientation="1,0"
        position="346.48232,984.89873"
        id="guide3713" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="259.28571,662.85714"
+       id="guide3090" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="212.85714,706.42857"
+       id="guide3092" />
   </sodipodi:namedview>
   <metadata
      id="metadata2922">
@@ -80,7 +88,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -269,16 +277,17 @@
     </g>
     <g
        id="quad-X"
-       inkscape:label="#g4034">
+       inkscape:label="#g4034"
+       transform="translate(-16,0)">
       <path
          id="path4030"
          d="m 346.48232,88.676654 96.46957,82.832506"
-         style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+         style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
          sodipodi:nodetypes="cc" />
       <path
          id="path4032"
          d="M 346.48232,172.51932 431.84021,87.161425"
-         style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+         style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
          sodipodi:nodetypes="cc" />
       <g
          transform="translate(-62.055796,15.66244)"
@@ -465,5 +474,692 @@
            id="path3970" />
       </g>
     </g>
+    <g
+       id="quad-octo"
+       inkscape:label="#g3870"
+       transform="translate(460.62956,-209.6425)">
+      <path
+         style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+         d="m 88.571429,329.42899 127.857141,0"
+         id="path2878" />
+      <path
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+         d="m 152.03811,277.10595 0,107.11337"
+         id="path2880" />
+      <g
+         transform="translate(-0.45501705,-5.428572)"
+         id="g3018">
+        <path
+           transform="translate(-0.50000024,184.5)"
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