From a9dad6f4dfb798ffa278476a4a4d2a3ec9842d82 Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Tue, 26 Aug 2014 01:22:35 +0200
Subject: [PATCH] OP-1222 Added reversed for servos. Beautification of fixed
 wing page.

---
 .../setupwizard/pages/fixedwingpage.ui        | 18 ++++++---
 .../pages/outputcalibrationpage.cpp           | 40 ++++++++++++-------
 2 files changed, 37 insertions(+), 21 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
index e4bba0fd7..59039632a 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
@@ -49,11 +49,11 @@ p, li { white-space: pre-wrap; }
          </property>
          <item>
           <widget class="QLabel" name="label_2">
-           <property name="minimumSize">
-            <size>
-             <width>125</width>
-             <height>36</height>
-            </size>
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
            </property>
            <property name="font">
             <font>
@@ -69,6 +69,12 @@ p, li { white-space: pre-wrap; }
          </item>
          <item>
           <widget class="QComboBox" name="typeCombo">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
            <property name="minimumSize">
             <size>
              <width>125</width>
@@ -82,7 +88,7 @@ p, li { white-space: pre-wrap; }
        <item>
         <widget class="QTextEdit" name="typeDescription">
          <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Expanding">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Expanding">
            <horstretch>0</horstretch>
            <verstretch>0</verstretch>
           </sizepolicy>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
index a7fadd1f1..385e4705b 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
@@ -45,16 +45,6 @@ OutputCalibrationPage::OutputCalibrationPage(SetupWizard *wizard, QWidget *paren
     // move the code that was here to setupVehicle() so we can determine which image to use. 
     m_vehicleScene = new QGraphicsScene(this);
     ui->vehicleView->setScene(m_vehicleScene);
-
-    connect(ui->motorNeutralButton, SIGNAL(toggled(bool)), this, SLOT(on_motorNeutralButton_toggled(bool)));
-    connect(ui->motorNeutralSlider, SIGNAL(valueChanged(int)), this, SLOT(on_motorNeutralSlider_valueChanged(int)));
-
-    connect(ui->servoButton, SIGNAL(toggled(bool)), this, SLOT(on_servoButton_toggled(bool)));
-    connect(ui->servoMinAngleSlider, SIGNAL(valueChanged(int)), this, SLOT(on_servoMinAngleSlider_valueChanged(int)));
-    connect(ui->servoCenterAngleSlider, SIGNAL(valueChanged(int)), this, SLOT(on_servoCenterAngleSlider_valueChanged(int)));
-    connect(ui->servoMaxAngleSlider, SIGNAL(valueChanged(int)), this, SLOT(on_servoMaxAngleSlider_valueChanged(int)));
-
-    connect(ui->reverseCheckbox, SIGNAL(toggled(bool)), this, SLOT(on_reverseCheckbox_toggled(bool)));
 }
 
 OutputCalibrationPage::~OutputCalibrationPage()
@@ -292,6 +282,12 @@ void OutputCalibrationPage::setWizardPage()
         if (currentPageIndex == 1) {
             ui->motorNeutralSlider->setValue(m_actuatorSettings[currentChannel].channelNeutral);
         } else if (currentPageIndex == 2) {
+            if (m_actuatorSettings[currentChannel].channelMax < m_actuatorSettings[currentChannel].channelMin &&
+                    !ui->reverseCheckbox->isChecked()) {
+                ui->reverseCheckbox->setChecked(true);
+            } else {
+                ui->reverseCheckbox->setChecked(false);
+            }
             enableServoSliders(false);
             if (ui->reverseCheckbox->isChecked()) {
                 ui->servoMaxAngleSlider->setValue(m_actuatorSettings[currentChannel].channelMax);
@@ -403,8 +399,7 @@ void OutputCalibrationPage::enableServoSliders(bool enabled)
     ui->servoCenterAngleSlider->setEnabled(enabled);
     ui->servoMinAngleSlider->setEnabled(enabled);
     ui->servoMaxAngleSlider->setEnabled(enabled);
-    //ui->reverseCheckbox->setEnabled(!enabled);
-    ui->reverseCheckbox->setEnabled(false);
+    ui->reverseCheckbox->setEnabled(!enabled);
 }
 
 bool OutputCalibrationPage::checkAlarms()
@@ -547,14 +542,29 @@ void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
 
 void OutputCalibrationPage::on_reverseCheckbox_toggled(bool checked)
 {
-    if (m_actuatorSettings[getCurrentChannel()].channelMax > m_actuatorSettings[getCurrentChannel()].channelMin) {
+    if (checked && m_actuatorSettings[getCurrentChannel()].channelMax > m_actuatorSettings[getCurrentChannel()].channelMin) {
         quint16 oldMax = m_actuatorSettings[getCurrentChannel()].channelMax;
         m_actuatorSettings[getCurrentChannel()].channelMax = m_actuatorSettings[getCurrentChannel()].channelMin;
         m_actuatorSettings[getCurrentChannel()].channelMin = oldMax;
-    } else if (m_actuatorSettings[getCurrentChannel()].channelMax < m_actuatorSettings[getCurrentChannel()].channelMin) {
+    } else if (!checked && m_actuatorSettings[getCurrentChannel()].channelMax < m_actuatorSettings[getCurrentChannel()].channelMin) {
         quint16 oldMax = m_actuatorSettings[getCurrentChannel()].channelMax;
         m_actuatorSettings[getCurrentChannel()].channelMax = m_actuatorSettings[getCurrentChannel()].channelMin;
         m_actuatorSettings[getCurrentChannel()].channelMin = oldMax;
     }
-    setWizardPage();
+    ui->servoCenterAngleSlider->setInvertedAppearance(checked);
+    ui->servoCenterAngleSlider->setInvertedControls(checked);
+    ui->servoMinAngleSlider->setInvertedAppearance(checked);
+    ui->servoMinAngleSlider->setInvertedControls(checked);
+    ui->servoMaxAngleSlider->setInvertedAppearance(checked);
+    ui->servoMaxAngleSlider->setInvertedControls(checked);
+
+    if (ui->reverseCheckbox->isChecked()) {
+        ui->servoMaxAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMax);
+        ui->servoCenterAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelNeutral);
+        ui->servoMinAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMin);
+    } else {
+        ui->servoMinAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMin);
+        ui->servoCenterAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelNeutral);
+        ui->servoMaxAngleSlider->setValue(m_actuatorSettings[getCurrentChannel()].channelMax);
+    }
 }