OP-502 If a board is not connected, the "Save" button is grayed out. The "Apply" button is still enable, which enables creating configurations purely offline.

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

@@ -218,23 +218,23 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_ahrs->accelBiasStart, SIGNAL(clicked()), this, SLOT(launchAccelBiasCalibration()));
 
     obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(ahrsSettingsRequest()));
+    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
     obj = getObjectManager()->getObject(QString("HomeLocation"));
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(ahrsSettingsRequest()));
+    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
 
-    /*
-    connect(m_ahrs->algorithm, SIGNAL(currentIndexChanged(int)), this, SLOT(ahrsSettingsSave()));
-    connect(m_ahrs->indoorFlight, SIGNAL(stateChanged(int)), this, SLOT(homeLocationSave()));
-    connect(m_ahrs->homeLocation, SIGNAL(clicked()), this, SLOT(homeLocationSaveSD()));
-    */
     connect(m_ahrs->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveRAM()));
     connect(m_ahrs->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveSD()));
     connect(m_ahrs->sixPointsStart, SIGNAL(clicked()), this, SLOT(multiPointCalibrationMode()));
     connect(m_ahrs->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
     connect(m_ahrs->startDriftCalib, SIGNAL(clicked()),this, SLOT(launchGyroDriftCalibration()));
 
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
-    ahrsSettingsRequest();
+    // Order is important: 1st request the settings (it will also enable the controls)
+    // then explicitely disable them. They will be re-enabled right afterwards by the
+    // configgadgetwidget if the autopilot is actually connected.
+    refreshValues();
+    // when the AHRS Widget is instanciated, the autopilot is always connected // enableControls(false);
+    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
 
     // Connect the help button
     connect(m_ahrs->ahrsHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
@@ -263,6 +263,13 @@ void ConfigAHRSWidget::resizeEvent(QResizeEvent *event)
     m_ahrs->sixPointsHelp->fitInView(paperplane,Qt::KeepAspectRatio);
 }
 
+
+void ConfigAHRSWidget::enableControls(bool enable)
+{
+    //m_ahrs->ahrsSettingsSaveRAM->setEnabled(enable);
+    m_ahrs->ahrsSettingsSaveSD->setEnabled(enable);
+}
+
 /**
   Starts an accelerometer bias calibration.
   */
@@ -281,7 +288,7 @@ void ConfigAHRSWidget::launchAccelBiasCalibration()
     accel_accum_y.clear();
     accel_accum_z.clear();
 
-    UAVDataObject* ahrsCalib = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
+//    UAVDataObject* ahrsCalib = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
 //    ahrsCalib->getField("accel_bias")->setDouble(0,0);
 //    ahrsCalib->getField("accel_bias")->setDouble(0,1);
 //    ahrsCalib->getField("accel_bias")->setDouble(0,2);
@@ -416,6 +423,7 @@ void ConfigAHRSWidget::launchGyroDriftCalibration()
   */
 void ConfigAHRSWidget::driftCalibrationAttitudeRawUpdated(UAVObject* obj) {
 
+    Q_UNUSED(obj)
     // This is necessary to prevent a race condition on disconnect signal and another update
     if (collectingData == true) {
         /**
@@ -1142,7 +1150,7 @@ void ConfigAHRSWidget::drawVariancesGraph()
 /**
   Request current settings from the AHRS
   */
-void ConfigAHRSWidget::ahrsSettingsRequest()
+void ConfigAHRSWidget::refreshValues()
 {
 
     UAVObject *obj = getObjectManager()->getObject(QString("AHRSSettings"));

ground/openpilotgcs/src/plugins/config/configahrswidget.h

@@ -55,6 +55,7 @@ public:
 private:
     void drawVariancesGraph();
     void displayPlane(QString elementID);
+    virtual void enableControls(bool enable);
 
     Ui_AHRSWidget *m_ahrs;
     QGraphicsSvgItem *paperplane;
@@ -130,7 +131,9 @@ private slots:
     void launchAccelBiasCalibration();
     void calibPhase2();
     void incrementProgress();
-    void ahrsSettingsRequest();
+
+    virtual void refreshValues();
+    //void ahrsSettingsRequest();
     void ahrsSettingsSaveRAM();
     void ahrsSettingsSaveSD();
     void savePositionData();

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

@@ -172,7 +172,6 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
     connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
     connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
     connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
-    requestAircraftUpdate();
 
     connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
     connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
@@ -191,17 +190,22 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
     connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
     connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
 
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestAircraftUpdate()));
+    enableControls(false);
+    refreshValues();
+    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
+
     // Register for ManualControlSettings changes:
     obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(requestAircraftUpdate()));
+    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
     obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(requestAircraftUpdate()));
+    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
     obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(requestAircraftUpdate()));
+    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
 
     // Connect the help button
     connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+
 }
 
 ConfigAirframeWidget::~ConfigAirframeWidget()
@@ -209,6 +213,18 @@ ConfigAirframeWidget::~ConfigAirframeWidget()
    // Do nothing
 }
 
+/**
+  Enable or disable controls depending on whether we're ronnected or not
+  */
+void ConfigAirframeWidget::enableControls(bool enable)
+{
+   //m_aircraft->saveAircraftToRAM->setEnabled(enable);
+   m_aircraft->saveAircraftToSD->setEnabled(enable);
+   //m_aircraft->ffApply->setEnabled(enable);
+   m_aircraft->ffSave->setEnabled(enable);
+}
+
+
 /**
   Slot for switching the airframe type. We do it explicitely
   rather than a signal in the UI, because we want to force a fitInView of the quad shapes.
@@ -446,14 +462,13 @@ void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList<double> list, d
   * Aircraft settings
   **************************/
 /**
-  Request the current value of the SystemSettings which holds the aircraft type
+  Refreshes the current value of the SystemSettings which holds the aircraft type
   */
-void ConfigAirframeWidget::requestAircraftUpdate()
+void ConfigAirframeWidget::refreshValues()
 {
     // Get the Airframe type from the system settings:
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
     Q_ASSERT(obj);
-    // obj->requestUpdate();
     UAVObjectField *field = obj->getField(QString("AirframeType"));
     Q_ASSERT(field);
     // At this stage, we will need to have some hardcoded settings in this code, this
@@ -463,7 +478,6 @@ void ConfigAirframeWidget::requestAircraftUpdate()
 
     obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(obj);
-    //obj->requestUpdate();
     field = obj->getField(QString("ThrottleCurve1"));
     Q_ASSERT(field);
     QList<double> curveValues;

ground/openpilotgcs/src/plugins/config/configairframewidget.h

@@ -32,6 +32,7 @@
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"
+#include "uavtalk/telemetrymanager.h"
 #include <QtGui/QWidget>
 #include <QList>
 #include <QItemDelegate>
@@ -57,6 +58,7 @@ private:
     void updateCustomAirframeUI();
     bool setupMixer(double mixerFactors[8][3]);
     void setupMotors(QList<QString> motorList);
+    virtual void enableControls(bool enable);
 
     void resetField(UAVObjectField * field);
     void resetMixer (MixerCurveWidget *mixer, int numElements);
@@ -72,7 +74,7 @@ private:
     UAVObject::Metadata accInitialData;
 
 private slots:
-    void requestAircraftUpdate();
+    virtual void refreshValues();
     void sendAircraftUpdate();
     void saveAircraftUpdate();
     void setupAirframeUI(QString type);

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

@@ -43,13 +43,18 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
     connect(ui->applyButton,SIGNAL(clicked()),this,SLOT(applyAttitudeSettings()));
 
     // Make it smart:
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(getCurrentAttitudeSettings()));
-    getCurrentAttitudeSettings(); // The 1st time this panel is instanciated, the autopilot is already connected.
+    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
+
+    enableControls(true);
+    refreshValues(); // The 1st time this panel is instanciated, the autopilot is already connected.
     UAVObject * settings = getObjectManager()->getObject(QString("AttitudeSettings"));
-    connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(getCurrentAttitudeSettings()));
+    connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
 
     // Connect the help button
     connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+
+
 }
 
 ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
@@ -57,6 +62,12 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
     delete ui;
 }
 
+void ConfigCCAttitudeWidget::enableControls(bool enable)
+{
+    //ui->applyButton->setEnabled(enable);
+    ui->saveButton->setEnabled(enable);
+}
+
 void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
     QMutexLocker locker(&startStop);
 
@@ -127,7 +138,7 @@ void ConfigCCAttitudeWidget::applyAttitudeSettings() {
     settings->updated();
 }
 
-void ConfigCCAttitudeWidget::getCurrentAttitudeSettings() {
+void ConfigCCAttitudeWidget::refreshValues() {
     UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
     UAVObjectField * field = settings->getField("BoardRotation");
     ui->rollBias->setValue(field->getDouble(0));

ground/openpilotgcs/src/plugins/config/configccattitudewidget.h

@@ -52,7 +52,7 @@ private slots:
     void startAccelCalibration();
     void saveAttitudeSettings();
     void applyAttitudeSettings();
-    void getCurrentAttitudeSettings();
+    virtual void refreshValues();
     void openHelp();
 
 private:
@@ -67,6 +67,8 @@ private:
 
     static const int NUM_ACCEL_UPDATES = 60;
     static const float ACCEL_SCALE = 0.004f * 9.81f;
+    virtual void enableControls(bool enable);
+
 };
 
 #endif // CCATTITUDEWIDGET_H

ground/openpilotgcs/src/plugins/config/configccpmwidget.h

@@ -85,6 +85,7 @@ private:
 
         int MixerChannelData[6];
         int ShowDisclaimer(int messageID);
+        virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget
 
     private slots:
         void ccpmSwashplateUpdate();
@@ -107,10 +108,14 @@ private:
         void setSwashplateLevel(int percent);
         void SwashLvlSpinBoxChanged(int value);
         void FocusChanged(QWidget *oldFocus, QWidget *newFocus);
+
+        virtual void refreshValues() {}; // Not used
+
     public slots:
         void requestccpmUpdate();
         void sendccpmUpdate();
         void saveccpmUpdate();
+
 protected:
     void showEvent(QShowEvent *event);
     void resizeEvent(QResizeEvent *event);

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

@@ -90,10 +90,11 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
     connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
+    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
 
     // And check whether by any chance we are not already connected
     if (telMngr->isConnected())
-        onAutopilotConnect();
+        onAutopilotConnect();    
 
     help = 0;
 }
@@ -111,6 +112,10 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
     QWidget::resizeEvent(event);
 }
 
+void ConfigGadgetWidget::onAutopilotDisconnect() {
+    emit autopilotDisconnected();
+}
+
 void ConfigGadgetWidget::onAutopilotConnect() {
 
     // First of all, check what Board type we are talking to, and
@@ -135,8 +140,6 @@ void ConfigGadgetWidget::onAutopilotConnect() {
             ftw->insertTab(3, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
         }
     }
-
-
     emit autopilotConnected();
 }
 

ground/openpilotgcs/src/plugins/config/configgadgetwidget.h

@@ -52,9 +52,11 @@ public:
 
 public slots:
     void onAutopilotConnect();
+    void onAutopilotDisconnect();
 
 signals:
     void autopilotConnected();
+    void autopilotDisconnected();
 
 protected:
         void resizeEvent(QResizeEvent * event);

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

@@ -43,8 +43,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_config = new Ui_InputWidget();
     m_config->setupUi(this);
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
 	// First of all, put all the channel widgets into lists, so that we can
     // manipulate those:
@@ -102,7 +102,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     // Register for ManualControlSettings changes:
     obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(requestRCInputUpdate()));
+    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
 
 
     // Get the receiver types supported by OpenPilot and fill the corresponding
@@ -155,12 +155,14 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_config->armControl->clear();
     m_config->armControl->addItems(field->getOptions());
 
-    requestRCInputUpdate();
 
     connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
     connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
 
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCInputUpdate()));
+    enableControls(false);
+    refreshValues();
+    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
 
     connect(m_config->inSlider0, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged0(int)));
     connect(m_config->inSlider1, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged1(int)));
@@ -182,20 +184,6 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     firstUpdate = true;
 
-    enableControls(false);
-
-    // Ed's note: don't know who added this, this goes against the design
-    // of this plugin (there is a autopilotconnected event managed by the
-    // parent.
-    // Listen to telemetry connection events
-    if (pm) {
-        TelemetryManager *tm = pm->getObject<TelemetryManager>();
-        if (tm) {
-            connect(tm, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
-            connect(tm, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
-        }
-    }
-
     // Connect the help button
     connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
 }
@@ -266,27 +254,6 @@ void ConfigInputWidget::onInSliderValueChanged7(int value)
 	inNeuLabels[7]->setText(QString::number(value));
 }
 
-// ************************************
-// telemetry start/stop connect/disconnect signals
-
-void ConfigInputWidget::onTelemetryStart()
-{
-}
-
-void ConfigInputWidget::onTelemetryStop()
-{
-}
-
-void ConfigInputWidget::onTelemetryConnect()
-{
-	enableControls(true);
-}
-
-void ConfigInputWidget::onTelemetryDisconnect()
-{
-	enableControls(false);
-	m_config->doRCInputCalibration->setChecked(false);
-}
 
 // ************************************
 
@@ -297,21 +264,11 @@ void ConfigInputWidget::onTelemetryDisconnect()
   */
 void ConfigInputWidget::enableControls(bool enable)
 {
-        // m_config->saveRCInputToRAM->setEnabled(enable);
+        //m_config->saveRCInputToRAM->setEnabled(enable);
 	m_config->saveRCInputToSD->setEnabled(enable);
-
 	m_config->doRCInputCalibration->setEnabled(enable);
 
-        /*
-	m_config->ch0Assign->setEnabled(enable);
-	m_config->ch1Assign->setEnabled(enable);
-	m_config->ch2Assign->setEnabled(enable);
-	m_config->ch3Assign->setEnabled(enable);
-	m_config->ch4Assign->setEnabled(enable);
-	m_config->ch5Assign->setEnabled(enable);
-	m_config->ch6Assign->setEnabled(enable);
-	m_config->ch7Assign->setEnabled(enable);
-        */
+        m_config->doRCInputCalibration->setChecked(false);
 }
 
 
@@ -322,7 +279,7 @@ void ConfigInputWidget::enableControls(bool enable)
 /**
   Request the current config from the board
   */
-void ConfigInputWidget::requestRCInputUpdate()
+void ConfigInputWidget::refreshValues()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlSettings")));
     Q_ASSERT(obj);

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

@@ -46,10 +46,6 @@ public:
         ~ConfigInputWidget();
 
 public slots:
-	void onTelemetryStart();
-	void onTelemetryStop();
-	void onTelemetryConnect();
-	void onTelemetryDisconnect();
 
 	void onInSliderValueChanged0(int value);
 	void onInSliderValueChanged1(int value);
@@ -82,11 +78,11 @@ private:
 
 	bool firstUpdate;
 
-	void enableControls(bool enable);
+        virtual void enableControls(bool enable);
 
 private slots:
 	void updateChannels(UAVObject* obj);
-	void requestRCInputUpdate();
+        virtual void refreshValues();
 	void sendRCInputUpdate();
 	void saveRCInputObject();
         void reverseCheckboxClicked(bool state);

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

@@ -97,18 +97,17 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
             << m_config->ch7Rev;
 
     links << m_config->ch0Link
-              << m_config->ch1Link
-              << m_config->ch2Link
-              << m_config->ch3Link
-              << m_config->ch4Link
-              << m_config->ch5Link
-              << m_config->ch6Link
-              << m_config->ch7Link;
+          << m_config->ch1Link
+          << m_config->ch2Link
+          << m_config->ch3Link
+          << m_config->ch4Link
+          << m_config->ch5Link
+          << m_config->ch6Link
+          << m_config->ch7Link;
 
     // Register for ActuatorSettings changes:
     UAVDataObject * obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ActuatorSettings")));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(requestRCOutputUpdate()));
-
+    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
 
     for (int i = 0; i < 8; i++) {
         connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange()));
@@ -128,28 +127,15 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
     connect(m_config->saveRCOutputToSD, SIGNAL(clicked()), this, SLOT(saveRCOutputObject()));
     connect(m_config->saveRCOutputToRAM, SIGNAL(clicked()), this, SLOT(sendRCOutputUpdate()));
 
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCOutputUpdate()));
-    requestRCOutputUpdate();
+    enableControls(false);
+    refreshValues();
+    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
 
     firstUpdate = true;
 
     connect(m_config->spinningArmed, SIGNAL(toggled(bool)), this, SLOT(setSpinningArmed(bool)));
 
-    enableControls(false);
-
-    // Listen to telemetry connection events
-    if (pm)
-    {
-        TelemetryManager *tm = pm->getObject<TelemetryManager>();
-        if (tm)
-        {
-            connect(tm, SIGNAL(myStart()), this, SLOT(onTelemetryStart()));
-            connect(tm, SIGNAL(myStop()), this, SLOT(onTelemetryStop()));
-            connect(tm, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
-            connect(tm, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
-        }
-    }
-
     // Connect the help button
     connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
 }
@@ -160,34 +146,12 @@ ConfigOutputWidget::~ConfigOutputWidget()
 }
 
 
-
-// ************************************
-// telemetry start/stop connect/disconnect signals
-
-void ConfigOutputWidget::onTelemetryStart()
-{
-}
-
-void ConfigOutputWidget::onTelemetryStop()
-{
-}
-
-void ConfigOutputWidget::onTelemetryConnect()
-{
-	enableControls(true);
-}
-
-void ConfigOutputWidget::onTelemetryDisconnect()
-{
-	enableControls(false);
-}
-
 // ************************************
 
 void ConfigOutputWidget::enableControls(bool enable)
 {
 	m_config->saveRCOutputToSD->setEnabled(enable);
-	m_config->saveRCOutputToRAM->setEnabled(enable);
+        //m_config->saveRCOutputToRAM->setEnabled(enable);
 }
 
 // ************************************
@@ -391,7 +355,7 @@ void ConfigOutputWidget::sendChannelTest(int value)
 /**
   Request the current config from the board (RC Output)
   */
-void ConfigOutputWidget::requestRCOutputUpdate()
+void ConfigOutputWidget::refreshValues()
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

ground/openpilotgcs/src/plugins/config/configoutputwidget.h

@@ -46,12 +46,6 @@ public:
         ConfigOutputWidget(QWidget *parent = 0);
         ~ConfigOutputWidget();
 
-public slots:
-	void onTelemetryStart();
-	void onTelemetryStop();
-	void onTelemetryConnect();
-	void onTelemetryDisconnect();
-
 private:
         Ui_OutputWidget *m_config;
 
@@ -75,10 +69,10 @@ private:
 
 	bool firstUpdate;
 
-	void enableControls(bool enable);
+        virtual void enableControls(bool enable);
 
 private slots:
-	void requestRCOutputUpdate();
+        virtual void refreshValues();
 	void sendRCOutputUpdate();
 	void saveRCOutputObject();
 	void runChannelTests(bool state);

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

@@ -43,14 +43,17 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     m_stabilization->setupUi(this);
 
 
-    requestStabilizationUpdate();
     connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate()));
     connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate()));
 
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestStabilizationUpdate()));
+    enableControls(false);
+    refreshValues();
+    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
+
     // Now connect the widget to the StabilizationSettings object
     UAVObject *obj = getObjectManager()->getObject(QString("StabilizationSettings"));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(requestStabilizationUpdate()));
+    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
 
     // Create a timer to regularly send the object update in case
     // we want realtime updates.
@@ -84,6 +87,12 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget()
 }
 
 
+void ConfigStabilizationWidget::enableControls(bool enable)
+{
+    //m_stabilization->saveStabilizationToRAM->setEnabled(enable);
+    m_stabilization->saveStabilizationToSD->setEnabled(enable);
+}
+
 void ConfigStabilizationWidget::updateRateRollKP(double val)
 {
     if (m_stabilization->linkRateRP->isChecked()) {
@@ -178,9 +187,9 @@ void ConfigStabilizationWidget::updatePitchILimit(double val)
 /**
   Request stabilization settings from the board
   */
-void ConfigStabilizationWidget::requestStabilizationUpdate()
+void ConfigStabilizationWidget::refreshValues()
 {
-    // Not needed anymore as this slot is called whenever we get
+    // Not needed anymore as this slot is only called whenever we get
     // a signal that the object was just updated
     // stabSettings->requestUpdate();
     StabilizationSettings::DataFields stabData = stabSettings->getData();

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h

@@ -49,9 +49,10 @@ private:
     Ui_StabilizationWidget *m_stabilization;
     StabilizationSettings* stabSettings;
     QTimer updateTimer;
+    virtual void enableControls(bool enable);
 
 private slots:
-    void requestStabilizationUpdate();
+    virtual void refreshValues();
     void sendStabilizationUpdate();
     void saveStabilizationUpdate();
     void realtimeUpdateToggle(bool);

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

@@ -62,6 +62,21 @@ double ConfigTaskWidget::listMean(QList<double> list)
     return accum / list.size();
 }
 
+// ************************************
+// telemetry start/stop connect/disconnect signals
+
+void ConfigTaskWidget::onAutopilotDisconnect()
+{
+        enableControls(false);
+}
+
+void ConfigTaskWidget::onAutopilotConnect()
+{
+        enableControls(true);
+        refreshValues();
+}
+
+
 
 /**
   @}

ground/openpilotgcs/src/plugins/config/configtaskwidget.h

@@ -48,9 +48,15 @@ public:
     UAVObjectManager* getObjectManager();
     static double listMean(QList<double> list);
 
+public slots:
+    void onAutopilotDisconnect();
+    void onAutopilotConnect();
+
 private slots:
+    virtual void refreshValues() = 0;
 
 private:
+    virtual void enableControls(bool enable) = 0;
 
 };
 

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

@@ -47,13 +47,14 @@ ConfigTelemetryWidget::ConfigTelemetryWidget(QWidget *parent) : ConfigTaskWidget
     UAVObjectField *field = obj->getField(QString("Speed"));
     m_telemetry->telemetrySpeed->addItems(field->getOptions());
 
-    requestTelemetryUpdate();
     connect(m_telemetry->saveTelemetryToSD, SIGNAL(clicked()), this, SLOT(saveTelemetryUpdate()));
     connect(m_telemetry->saveTelemetryToRAM, SIGNAL(clicked()), this, SLOT(sendTelemetryUpdate()));
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(requestTelemetryUpdate()));
+    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
 
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestTelemetryUpdate()));
-    requestTelemetryUpdate();
+    enableControls(false);
+    refreshValues();
+    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
 }
 
 ConfigTelemetryWidget::~ConfigTelemetryWidget()
@@ -66,10 +67,16 @@ ConfigTelemetryWidget::~ConfigTelemetryWidget()
  * Telemetry Settings
  *****************************/
 
+void ConfigTelemetryWidget::enableControls(bool enable)
+{
+    m_telemetry->saveTelemetryToSD->setEnabled(enable);
+    //m_telemetry->saveTelemetryToRAM->setEnabled(enable);
+}
+
 /**
   Request telemetry settings from the board
   */
-void ConfigTelemetryWidget::requestTelemetryUpdate()
+void ConfigTelemetryWidget::refreshValues()
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@@ -102,5 +109,3 @@ void ConfigTelemetryWidget::saveTelemetryUpdate()
     Q_ASSERT(obj);
     saveObjectToSD(obj);
 }
-
-

ground/openpilotgcs/src/plugins/config/configtelemetrywidget.h

@@ -46,9 +46,10 @@ public:
 
 private:
     Ui_TelemetryWidget *m_telemetry;
+    void enableControls(bool enable);
 
 private slots:
-    void requestTelemetryUpdate();
+    virtual void refreshValues();
     void sendTelemetryUpdate();
     void saveTelemetryUpdate();
 

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

@@ -31,7 +31,7 @@
 #include <QDebug>
 
 DefaultAttitudeWidget::DefaultAttitudeWidget(QWidget *parent) :
-        ConfigTaskWidget(parent),
+        QWidget(parent),
         ui(new Ui_defaultattitude)
 {
     ui->setupUi(this);

ground/openpilotgcs/src/plugins/config/defaultattitudewidget.h

@@ -38,7 +38,7 @@
 
 class Ui_Widget;
 
-class DefaultAttitudeWidget : public ConfigTaskWidget
+class DefaultAttitudeWidget : public QWidget
 {
     Q_OBJECT