Merge remote-tracking branch 'origin/thread/OP-1517_FW_Wizard_Fixes' into next

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

@@ -48,7 +48,7 @@
 #include <QDesktopServices>
 #include <QUrl>
 
-ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent), wasItMe(false)
+ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     ui = new Ui_OutputWidget();
     ui->setupUi(this);
@@ -100,13 +100,6 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
 
     disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
 
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    UAVObject *obj = objManager->getObject(QString("ActuatorCommand"));
-    if (UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
-        this->setEnabled(false);
-    }
-    connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(disableIfNotMe(UAVObject *)));
-
     refreshWidgetsValues();
     updateEnableControls();
 }
@@ -178,7 +171,6 @@ void ConfigOutputWidget::runChannelTests(bool state)
     ActuatorCommand *obj = ActuatorCommand::GetInstance(getObjectManager());
     UAVObject::Metadata mdata = obj->getMetadata();
     if (state) {
-        wasItMe = true;
         accInitialData = mdata;
         UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
         UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
@@ -186,7 +178,6 @@ void ConfigOutputWidget::runChannelTests(bool state)
         UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
         mdata.gcsTelemetryUpdatePeriod = 100;
     } else {
-        wasItMe = false;
         mdata   = accInitialData; // Restore metadata
     }
     obj->setMetadata(mdata);
@@ -425,14 +416,3 @@ void ConfigOutputWidget::stopTests()
 {
     ui->channelOutTest->setChecked(false);
 }
-
-void ConfigOutputWidget::disableIfNotMe(UAVObject *obj)
-{
-    if (UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
-        if (!wasItMe) {
-            this->setEnabled(false);
-        }
-    } else {
-        this->setEnabled(true);
-    }
-}

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

@@ -67,11 +67,8 @@ private:
 
     UAVObject::Metadata accInitialData;
 
-    bool wasItMe;
-
 private slots:
     void stopTests();
-    void disableIfNotMe(UAVObject *obj);
     virtual void refreshWidgetsValues(UAVObject *obj = NULL);
     void updateObjectsFromWidgets();
     void runChannelTests(bool state);

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

@@ -148,64 +148,24 @@ void ConnectionDiagram::setupGraphicsScene()
             break;
         }
 
+        QString prefix = "";
+        if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
+            prefix = "nano-";
+        }
         switch (m_configSource->getInputType()) {
         case VehicleConfigurationSource::INPUT_PWM:
-            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                elementsToShow << "pwm-nano";
-            } else {
-                elementsToShow << "pwm";
-            }
+            elementsToShow << QString("%1pwm").arg(prefix);
             break;
         case VehicleConfigurationSource::INPUT_PPM:
-            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                elementsToShow << "ppm-nano";
-            } else {
-                elementsToShow << "ppm";
-            }
+            elementsToShow << QString("%1ppm").arg(prefix);
             break;
         case VehicleConfigurationSource::INPUT_SBUS:
-            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                elementsToShow << "sbus-nano";
-            } else {
-                elementsToShow << "sbus";
-            }
+            elementsToShow << QString("%1sbus").arg(prefix);
             break;
         case VehicleConfigurationSource::INPUT_DSMX10:
         case VehicleConfigurationSource::INPUT_DSMX11:
         case VehicleConfigurationSource::INPUT_DSM2:
-            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                elementsToShow << "satellite-nano";
-            } else {
-                elementsToShow << "satellite";
-            }
-            break;
-        default:
-            break;
-        }
-
-        switch (m_configSource->getGpsType()) {
-        case VehicleConfigurationSource::GPS_DISABLED:
-            break;
-        case VehicleConfigurationSource::GPS_NMEA:
-            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                elementsToShow << "nano-generic-nmea";
-            } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
-                elementsToShow << "generic-nmea";
-            }
-            break;
-        case VehicleConfigurationSource::GPS_PLATINUM:
-            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                elementsToShow << "nano-OPGPS-v9";
-            } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
-                elementsToShow << "OPGPS-v9";
-            }
-            break;
-        case VehicleConfigurationSource::GPS_UBX:
-            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                elementsToShow << "nano-OPGPS-v8-ublox";
-            } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
-                elementsToShow << "OPGPS-v8-ublox";
-            }
+            elementsToShow << QString("%1satellite").arg(prefix);
             break;
         default:
             break;
@@ -215,24 +175,35 @@ void ConnectionDiagram::setupGraphicsScene()
             m_configSource->getAirspeedType() != VehicleConfigurationSource::AIRSPEED_ESTIMATE) {
             switch (m_configSource->getAirspeedType()) {
             case VehicleConfigurationSource::AIRSPEED_EAGLETREE:
-                if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                    elementsToShow << "nano-eagletree-speed-sensor";
-                } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
-                    elementsToShow << "eagletree-speed-sensor";
-                }
+                elementsToShow << QString("%1eagletree-speed-sensor").arg(prefix);
                 break;
             case VehicleConfigurationSource::AIRSPEED_MS4525:
-                if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                    elementsToShow << "nano-ms4525-speed-sensor";
-                } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
-                    elementsToShow << "ms4525-speed-sensor";
-                }
+                elementsToShow << QString("%1ms4525-speed-sensor").arg(prefix);
                 break;
             default:
                 break;
             }
         }
 
+        if (m_configSource->getInputType() == VehicleConfigurationSource::INPUT_SBUS) {
+            prefix = QString("flexi-%1").arg(prefix);
+        }
+        switch (m_configSource->getGpsType()) {
+        case VehicleConfigurationSource::GPS_DISABLED:
+            break;
+        case VehicleConfigurationSource::GPS_NMEA:
+            elementsToShow << QString("%1generic-nmea").arg(prefix);
+            break;
+        case VehicleConfigurationSource::GPS_PLATINUM:
+            elementsToShow << QString("%1OPGPS-v9").arg(prefix);
+            break;
+        case VehicleConfigurationSource::GPS_UBX:
+            elementsToShow << QString("%1OPGPS-v8-ublox").arg(prefix);
+            break;
+        default:
+            break;
+        }
+
         setupGraphicsSceneItems(elementsToShow);
         fitInView();
         qDebug() << "Scene complete";

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

@@ -41,6 +41,10 @@ EscCalibrationPage::EscCalibrationPage(SetupWizard *wizard, QWidget *parent) :
 {
     ui->setupUi(this);
     connect(ui->startStopButton, SIGNAL(clicked()), this, SLOT(startStopButtonClicked()));
+
+    connect(ui->securityCheckBox1, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
+    connect(ui->securityCheckBox2, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
+    connect(ui->securityCheckBox3, SIGNAL(toggled(bool)), this, SLOT(securityCheckBoxesToggled()));
 }
 
 EscCalibrationPage::~EscCalibrationPage()
@@ -59,9 +63,19 @@ void EscCalibrationPage::enableButtons(bool enable)
     getWizard()->button(QWizard::CancelButton)->setEnabled(enable);
     getWizard()->button(QWizard::BackButton)->setEnabled(enable);
     getWizard()->button(QWizard::CustomButton1)->setEnabled(enable);
+    ui->securityCheckBox1->setEnabled(enable);
+    ui->securityCheckBox2->setEnabled(enable);
+    ui->securityCheckBox3->setEnabled(enable);
     QApplication::processEvents();
 }
 
+void EscCalibrationPage::resetAllSecurityCheckboxes()
+{
+    ui->securityCheckBox1->setChecked(false);
+    ui->securityCheckBox2->setChecked(false);
+    ui->securityCheckBox3->setChecked(false);
+}
+
 void EscCalibrationPage::startStopButtonClicked()
 {
     if (!m_isCalibrating) {
@@ -74,7 +88,7 @@ void EscCalibrationPage::startStopButtonClicked()
         MixerSettings *mSettings = MixerSettings::GetInstance(uavoManager);
         Q_ASSERT(mSettings);
         QString mixerTypePattern = "Mixer%1Type";
-        for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
+        for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
             UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
             Q_ASSERT(field);
             if (field->getValue().toString() == field->getOptions().at(VehicleConfigurationHelper::MIXER_TYPE_MOTOR)) {
@@ -95,8 +109,21 @@ void EscCalibrationPage::startStopButtonClicked()
         }
         m_outputs.clear();
         m_isCalibrating = false;
+        resetAllSecurityCheckboxes();
         ui->startStopButton->setText(tr("Start"));
-        ui->startStopButton->setEnabled(true);
         enableButtons(true);
     }
 }
+
+void EscCalibrationPage::securityCheckBoxesToggled()
+{
+    ui->startStopButton->setEnabled(ui->securityCheckBox1->isChecked() &&
+                                    ui->securityCheckBox2->isChecked() &&
+                                    ui->securityCheckBox3->isChecked());
+}
+
+
+void EscCalibrationPage::initializePage()
+{
+    resetAllSecurityCheckboxes();
+}

ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.h

@@ -43,18 +43,22 @@ public:
     explicit EscCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
     ~EscCalibrationPage();
     bool validatePage();
+    void initializePage();
 
 private slots:
     void startStopButtonClicked();
+    void securityCheckBoxesToggled();
     void enableButtons(bool enable);
+    void resetAllSecurityCheckboxes();
 
 private:
-    const int LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS  = 1000;
-    const int HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 2000;
+    static const int LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS  = 1000;
+    static const int HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1900;
     Ui::EscCalibrationPage *ui;
     bool m_isCalibrating;
 
     QList<OutputCalibrationUtil *> m_outputs;
+
 };
 
 #endif // ESCCALIBRATIONPAGE_H

ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.ui

@@ -17,7 +17,7 @@
    <item>
     <widget class="QLabel" name="label">
      <property name="text">
-      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot ESC Calibration Procedure&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;As you have selected to use a MultiRotor and Fast / Flashed ESCs, we need to calibrate the endpoints of these ESCs so they can see the full throttle range sent from the flight controller. &lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;This part of the wizard will tell you to connect the battery to your aircraft, before doing so you absolutely &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600; color:#f30f1d;&quot;&gt;must remove the propellers from all motors&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;. &lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;The steps to perform this calibration are as follows:&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;1. Press the Start button on this page &lt;br/&gt;2. Connect the battery to your airframe&lt;br/&gt;3. Wait for ESC calibration beep(s)&lt;br/&gt;4. Press the Stop button on this page&lt;br/&gt;5. Wait for ESC confirmation beep(s)&lt;br/&gt;6. Disconnect battery&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;When ready push the start button below.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot ESC Calibration Procedure&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;As you have selected to use a MultiRotor and Fast / Flashed ESCs, we need to calibrate the endpoints of these ESCs so they can see the full throttle range sent from the flight controller. &lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;This part of the wizard will tell you to connect the battery to your aircraft, before doing so you absolutely &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600; color:#f30f1d;&quot;&gt;must remove the propellers from all motors&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;. &lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;The steps to perform this calibration are as follows:&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;1. Confirm all safety questions&lt;br/&gt;2. Press the Start button when it becomes enabled&lt;br/&gt;3. Connect the battery to your airframe&lt;br/&gt;4. Wait for ESC calibration beep(s)&lt;br/&gt;5. Press the Stop button&lt;br/&gt;6. Wait for ESC confirmation beep(s)&lt;br/&gt;7. Disconnect battery&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
@@ -43,6 +43,27 @@
      </property>
     </spacer>
    </item>
+   <item>
+    <widget class="QCheckBox" name="securityCheckBox1">
+     <property name="text">
+      <string>I have removed ALL propellers from ALL motors of my vehicle.</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="securityCheckBox2">
+     <property name="text">
+      <string>The vehicle is NOT powered by any external power source but USB</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="securityCheckBox3">
+     <property name="text">
+      <string>I confirm I have read and understood the above instructions in full</string>
+     </property>
+    </widget>
+   </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">
      <property name="topMargin">
@@ -63,6 +84,9 @@
      </item>
      <item>
       <widget class="QPushButton" name="startStopButton">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
        <property name="minimumSize">
         <size>
          <width>0</width>
@@ -104,6 +128,12 @@
    </item>
   </layout>
  </widget>
+ <tabstops>
+  <tabstop>securityCheckBox1</tabstop>
+  <tabstop>securityCheckBox2</tabstop>
+  <tabstop>securityCheckBox3</tabstop>
+  <tabstop>startStopButton</tabstop>
+ </tabstops>
  <resources/>
  <connections/>
 </ui>

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

@@ -75,7 +75,7 @@ void OutputCalibrationPage::setupActuatorMinMaxAndNeutral(int motorChannelStart,
             // Set to motor safe values
             m_actuatorSettings[servoid].channelMin     = 1000;
             m_actuatorSettings[servoid].channelNeutral = 1000;
-            m_actuatorSettings[servoid].channelMax     = 2000;
+            m_actuatorSettings[servoid].channelMax     = 1900;
         } else if (servoid < totalUsedChannels) {
             // Set to servo safe values
             m_actuatorSettings[servoid].channelMin     = 1500;
@@ -217,9 +217,6 @@ void OutputCalibrationPage::setupVehicle()
         break;
     }
 
-    VehicleConfigurationHelper helper(getWizard());
-    helper.setupVehicle(false);
-
     if (m_calibrationUtil) {
         delete m_calibrationUtil;
         m_calibrationUtil = 0;

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

@@ -45,6 +45,9 @@ SummaryPage::~SummaryPage()
 
 bool SummaryPage::validatePage()
 {
+    // Save settings so far.
+    VehicleConfigurationHelper helper(getWizard());
+    helper.setupVehicle(false);
     return true;
 }
 

ground/openpilotgcs/src/plugins/setupwizard/pages/summarypage.ui

@@ -20,13 +20,13 @@
       <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:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot Configuration Summary&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&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;&lt;span style=&quot; font-size:10pt;&quot;&gt;The first part of this wizard is now complete. All information required to create a basic OpenPilot controller configuration for a specific vehicle has been collected.&lt;/span&gt;&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;&lt;span style=&quot; font-size:10pt;&quot;&gt;Below is a summary of the configuration and a button that links to a diagram illustrating how to connect required hardware and the OpenPilot Controller with the current configuration.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&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;&lt;span style=&quot; font-size:10pt;&quot;&gt;The following steps require that your OpenPilot controller is connected according to the diagram, remians connected to the computer by USB, and that you have a battery ready but &lt;/span&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;do not&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt; connect it right now, you will be told when to in later steps of this wizard.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot Configuration Summary&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&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;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;The first part of this wizard is now complete. All information required to create a basic OpenPilot controller configuration for a specific vehicle has been collected.&lt;/span&gt;&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;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;Below is a summary of the configuration and a button that links to a diagram illustrating how to connect required hardware and the OpenPilot Controller with the current configuration.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;&lt;br /&gt;&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;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;The following steps require that your OpenPilot controller is connected according to the diagram, remains connected to the computer by USB, and that you have a battery ready but &lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt; font-weight:600;&quot;&gt;do not&lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt; connect it right now, you will be told when to in later steps of this wizard.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>

ground/openpilotgcs/src/plugins/setupwizard/resources/connection-diagrams.svg

@@ -15,7 +15,7 @@
    height="1074.8231"
    width="1398.5884"
    version="1.1"
-   inkscape:version="0.48.5 r10040"
+   inkscape:version="0.48.4 r9939"
    sodipodi:docname="connection-diagrams.svg">
   <sodipodi:namedview
      pagecolor="#ffffff"
@@ -26,17 +26,17 @@
      guidetolerance="10"
      inkscape:pageopacity="0"
      inkscape:pageshadow="2"
-     inkscape:window-width="1280"
-     inkscape:window-height="928"
+     inkscape:window-width="1920"
+     inkscape:window-height="1176"
      id="namedview4616"
      showgrid="false"
      inkscape:zoom="0.67825113"
-     inkscape:cx="942.97766"
+     inkscape:cx="603.13304"
      inkscape:cy="537.41156"
-     inkscape:window-x="0"
-     inkscape:window-y="27"
+     inkscape:window-x="1600"
+     inkscape:window-y="24"
      inkscape:window-maximized="1"
-     inkscape:current-layer="layer20"
+     inkscape:current-layer="layer4"
      fit-margin-top="15"
      fit-margin-left="15"
      fit-margin-right="15"
@@ -11025,104 +11025,104 @@
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ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp

@@ -43,6 +43,7 @@
 #include "airspeedsettings.h"
 #include <QtCore/qmath.h>
 #include <QJsonObject>
+#include "auxmagsettings.h"
 
 VehicleConfigurationHelper::VehicleConfigurationHelper(VehicleConfigurationSource *configSource)
     : m_configSource(configSource), m_uavoManager(0),
@@ -193,43 +194,48 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
         }
 
         if (m_configSource->getGpsType() != VehicleConfigurationSource::GPS_DISABLED) {
+            data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = 1;
+            data.GPSSpeed = HwSettings::GPSSPEED_57600;
+
+            if (m_configSource->getInputType() == VehicleConfigurationSource::INPUT_SBUS) {
+                data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_GPS;
+            } else {
+                data.RM_MainPort = HwSettings::RM_MAINPORT_GPS;
+            }
+
             GPSSettings *gpsSettings = GPSSettings::GetInstance(m_uavoManager);
             Q_ASSERT(gpsSettings);
             GPSSettings::DataFields gpsData = gpsSettings->getData();
+            gpsData.UbxAutoConfig = GPSSettings::UBXAUTOCONFIG_DISABLED;
 
             switch (m_configSource->getGpsType()) {
             case VehicleConfigurationSource::GPS_NMEA:
-                data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = 1;
-                data.RM_MainPort     = HwSettings::RM_MAINPORT_GPS;
-                data.GPSSpeed        = HwSettings::GPSSPEED_57600;
                 gpsData.DataProtocol = GPSSettings::DATAPROTOCOL_NMEA;
                 break;
             case VehicleConfigurationSource::GPS_UBX:
-                data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = 1;
-                data.RM_MainPort     = HwSettings::RM_MAINPORT_GPS;
-                data.GPSSpeed        = HwSettings::GPSSPEED_57600;
                 gpsData.DataProtocol = GPSSettings::DATAPROTOCOL_UBX;
                 break;
             case VehicleConfigurationSource::GPS_PLATINUM:
-                data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = 1;
-                data.RM_MainPort = HwSettings::RM_MAINPORT_GPS;
-                data.GPSSpeed    = HwSettings::GPSSPEED_115200;
-                /*
-                   gpsData.DataProtocol = GPSSettings::DATAPROTOCOL_UBLOX;
-                   AuxMagSettings *magSettings = AuxMagSettings::GetInstance(m_uavoManager);
-                   AuxMagSettings::DataFields magsData = magSettings->getData();
-                   magsData.usage = AuxMagSettings::Both;
-                   magSettings->setData(magsData);
-                   addModifiedObject(magSettings, tr("Writing External Mag sensor settings"));
-                 */
+            {
+                gpsData.DataProtocol = GPSSettings::DATAPROTOCOL_UBX;
+                gpsData.UbxAutoConfig = GPSSettings::UBXAUTOCONFIG_CONFIGURE;
+                AuxMagSettings *magSettings = AuxMagSettings::GetInstance(m_uavoManager);
+                Q_ASSERT(magSettings);
+                AuxMagSettings::DataFields magsData = magSettings->getData();
+                magsData.Usage = AuxMagSettings::USAGE_BOTH;
+                magSettings->setData(magsData);
+                addModifiedObject(magSettings, tr("Writing External Mag sensor settings"));
                 break;
-            default:
-                data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = 0;
+            }
+            case VehicleConfigurationSource::GPS_DISABLED:
+                // Should not be able to reach here
                 break;
             }
 
             gpsSettings->setData(gpsData);
             addModifiedObject(gpsSettings, tr("Writing GPS sensor settings"));
+        } else {
+            data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = 0;
         }
 
         if (m_configSource->getVehicleType() == VehicleConfigurationSource::VEHICLE_FIXEDWING &&
@@ -592,7 +598,7 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch
     // Set Mixer types and values
     QString mixerTypePattern   = "Mixer%1Type";
     QString mixerVectorPattern = "Mixer%1Vector";
-    for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
+    for (quint32 i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
         UAVObjectField *field = mSettings->getField(mixerTypePattern.arg(i + 1));
         Q_ASSERT(field);
         field->setValue(field->getOptions().at(channels[i].type));
@@ -1371,7 +1377,7 @@ void VehicleConfigurationHelper::setupHexaCopter()
 
 void VehicleConfigurationHelper::setupOctoCopter()
 {
-    mixerChannelSettings channels[10];
+    mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
     GUIConfigDataUnion guiSettings = getGUIConfigData();
     SystemSettings::AirframeTypeOptions frame = SystemSettings::AIRFRAMETYPE_OCTO;
 
@@ -1758,7 +1764,7 @@ void VehicleConfigurationHelper::setupOctoCopter()
 
 void VehicleConfigurationHelper::setupElevon()
 {
-    mixerChannelSettings channels[10];
+    mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
     GUIConfigDataUnion guiSettings = getGUIConfigData();
 
     // Motor (Chan 3)
@@ -1800,7 +1806,7 @@ void VehicleConfigurationHelper::setupDualAileron()
     // 2. Setup GUI data
     // 3. Apply changes
 
-    mixerChannelSettings channels[10];
+    mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
     GUIConfigDataUnion guiSettings = getGUIConfigData();
 
     // Motor (Chan 3)
@@ -1860,7 +1866,7 @@ void VehicleConfigurationHelper::setupAileron()
     // 2. Setup GUI data
     // 3. Apply changes
 
-    mixerChannelSettings channels[10];
+    mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
     GUIConfigDataUnion guiSettings = getGUIConfigData();
 
     // Motor (Chan 3)