LP-446 - fixes from review

flight/modules/ManualControl/manualcontrol.c

@@ -568,6 +568,7 @@ void HandleBatteryFailsafe(uint8_t *position, FlightModeSettingsData *modeSettin
         break;
     default:
         failsafeStatus = BATTERYFAILSAFE_NONE;
+        break;
     }
     uint32_t debounceTimerms = PIOS_DELAY_DiffuS(changeTimestamp) / 1000;
 

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

@@ -100,7 +100,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     rssiDesiredObj4 = AccessoryDesired::GetInstance(getObjectManager(), 4);
     actuatorSettingsObj   = ActuatorSettings::GetInstance(getObjectManager());
     systemSettingsObj     = SystemSettings::GetInstance(getObjectManager());
-
+    hwSettingsObj = HwSettings::GetInstance(getObjectManager());
     // Only instance 0 is present if the board is not connected.
     // The other instances are populated lazily.
     Q_ASSERT(accessoryDesiredObj0);
@@ -265,6 +265,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     addWidget(ui->configurationWizard);
     addWidget(ui->runCalibration);
     addWidget(ui->failsafeFlightModeCb);
+    addWidget(ui->failsafeBatteryWarningFlightModeCb);
+    addWidget(ui->failsafeBatteryCriticalFlightModeCb);
 
     // Wizard
     wizardUi = new Ui_InputWizardWidget();
@@ -1797,88 +1799,40 @@ void ConfigInputWidget::updatePositionSlider()
 {
     ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
 
-    switch (manualSettingsDataPriv.FlightModeNumber) {
+    QWidget *fmodes[] = {
-    default:
+        ui->fmsModePos1,
-    case 6:
+        ui->fmsModePos2,
-        ui->fmsModePos6->setEnabled(true);
+        ui->fmsModePos3,
-        ui->pidBankSs1_5->setEnabled(true);
+        ui->fmsModePos4,
-        ui->assistControlPos6->setEnabled(true);
+        ui->fmsModePos5,
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 5);
+        ui->fmsModePos6
-    // pass through
+    };
-    case 5:
+    QWidget *pidbanks[] = {
-        ui->fmsModePos5->setEnabled(true);
+        ui->pidBankSs1_0,
-        ui->pidBankSs1_4->setEnabled(true);
+        ui->pidBankSs1_1,
-        ui->assistControlPos5->setEnabled(true);
+        ui->pidBankSs1_2,
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 4);
+        ui->pidBankSs1_3,
-    // pass through
+        ui->pidBankSs1_4,
-    case 4:
+        ui->pidBankSs1_5
-        ui->fmsModePos4->setEnabled(true);
+    };
-        ui->pidBankSs1_3->setEnabled(true);
+    QWidget *assisstecontrols[] = {
-        ui->assistControlPos4->setEnabled(true);
+        ui->assistControlPos1,
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 3);
+        ui->assistControlPos2,
-    // pass through
+        ui->assistControlPos3,
-    case 3:
+        ui->assistControlPos4,
-        ui->fmsModePos3->setEnabled(true);
+        ui->assistControlPos5,
-        ui->pidBankSs1_2->setEnabled(true);
+        ui->assistControlPos6
-        ui->assistControlPos3->setEnabled(true);
+    };
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 2);
-    // pass through
-    case 2:
-        ui->fmsModePos2->setEnabled(true);
-        ui->pidBankSs1_1->setEnabled(true);
-        ui->assistControlPos2->setEnabled(true);
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 1);
-    // pass through
-    case 1:
-        ui->fmsModePos1->setEnabled(true);
-        ui->pidBankSs1_0->setEnabled(true);
-        ui->assistControlPos1->setEnabled(true);
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 0);
-    // pass through
-    case 0:
-        break;
-    }
 
-    switch (manualSettingsDataPriv.FlightModeNumber) {
+    for (quint32 i = 0; i < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM; i++) {
-    case 0:
+        bool enabled = i < manualSettingsDataPriv.FlightModeNumber;
-        ui->fmsModePos1->setEnabled(false);
+
-        ui->pidBankSs1_0->setEnabled(false);
+        fmodes[i]->setEnabled(enabled);
-        ui->assistControlPos1->setEnabled(false);
+        pidbanks[i]->setEnabled(enabled);
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 0, false);
+        assisstecontrols[i]->setEnabled(enabled);
-    // pass through
+        setComboBoxItemEnabled(ui->failsafeFlightMode, i, enabled);
-    case 1:
+        setComboBoxItemEnabled(ui->failsafeBatteryCriticalFlightMode, i, enabled);
-        ui->fmsModePos2->setEnabled(false);
+        setComboBoxItemEnabled(ui->failsafeBatteryWarningFlightMode, i, enabled);
-        ui->pidBankSs1_1->setEnabled(false);
-        ui->assistControlPos2->setEnabled(false);
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 1, false);
-    // pass through
-    case 2:
-        ui->fmsModePos3->setEnabled(false);
-        ui->pidBankSs1_2->setEnabled(false);
-        ui->assistControlPos3->setEnabled(false);
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 2, false);
-    // pass through
-    case 3:
-        ui->fmsModePos4->setEnabled(false);
-        ui->pidBankSs1_3->setEnabled(false);
-        ui->assistControlPos4->setEnabled(false);
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 3, false);
-    // pass through
-    case 4:
-        ui->fmsModePos5->setEnabled(false);
-        ui->pidBankSs1_4->setEnabled(false);
-        ui->assistControlPos5->setEnabled(false);
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 4, false);
-    // pass through
-    case 5:
-        ui->fmsModePos6->setEnabled(false);
-        ui->pidBankSs1_5->setEnabled(false);
-        ui->assistControlPos6->setEnabled(false);
-        setComboBoxItemEnabled(ui->failsafeFlightMode, 5, false);
-    // pass through
-    case 6:
-    default:
-        break;
     }
 
     QString fmNumber = QString().setNum(manualSettingsDataPriv.FlightModeNumber);
@@ -2187,12 +2141,19 @@ void ConfigInputWidget::updateReceiverActivityStatus()
 
 void ConfigInputWidget::failsafeBatteryWarningFlightModeChanged(int index)
 {
-    ui->failsafeBatteryWarningFlightMode->setEnabled(index != -1);
+    hwSettingsData = hwSettingsObj->getData();
+    bool batteryModuleEnabled = (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_BATTERY] == HwSettings::OPTIONALMODULES_ENABLED);
+
+    ui->failsafeBatteryWarningFlightMode->setEnabled(batteryModuleEnabled && index != -1);
     ui->failsafeBatteryWarningFlightModeCb->setChecked(index != -1);
 }
+
 void ConfigInputWidget::failsafeBatteryCriticalFlightModeChanged(int index)
 {
-    ui->failsafeBatteryCriticalFlightMode->setEnabled(index != -1);
+    hwSettingsData = hwSettingsObj->getData();
+    bool batteryModuleEnabled = (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_BATTERY] == HwSettings::OPTIONALMODULES_ENABLED);
+
+    ui->failsafeBatteryCriticalFlightMode->setEnabled(batteryModuleEnabled && index != -1);
     ui->failsafeBatteryCriticalFlightModeCb->setChecked(index != -1);
 }
 
@@ -2219,5 +2180,12 @@ void ConfigInputWidget::failsafeBatteryCriticalFlightModeCbToggled(bool checked)
 
 void ConfigInputWidget::enableControlsChanged(bool enabled)
 {
-    ui->failsafeFlightMode->setEnabled(enabled && (ui->failsafeFlightMode->currentIndex() != -1));
+    ui->failsafeFlightMode->setEnabled(enabled && ui->failsafeFlightMode->currentIndex() != -1);
+
+    hwSettingsData = hwSettingsObj->getData();
+    bool batteryModuleEnabled = (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_BATTERY] == HwSettings::OPTIONALMODULES_ENABLED);
+    ui->failsafeBatteryWarningFlightMode->setEnabled(batteryModuleEnabled && enabled && ui->failsafeBatteryWarningFlightMode->currentIndex() != -1);
+    ui->failsafeBatteryCriticalFlightMode->setEnabled(batteryModuleEnabled && enabled && ui->failsafeBatteryCriticalFlightMode->currentIndex() != -1);
+    ui->failsafeBatteryWarningFlightModeCb->setEnabled(enabled && batteryModuleEnabled);
+    ui->failsafeBatteryCriticalFlightModeCb->setEnabled(enabled && batteryModuleEnabled);
 }

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

@@ -41,7 +41,7 @@
 #include "flightstatus.h"
 #include "accessorydesired.h"
 #include "systemsettings.h"
-
+#include "hwsettings.h"
 #include <QPointer>
 #include <QWidget>
 #include <QList>
@@ -145,6 +145,9 @@ private:
     SystemSettings *systemSettingsObj;
     SystemSettings::DataFields systemSettingsData;
 
+    HwSettings *hwSettingsObj;
+    HwSettings::DataFields hwSettingsData;
+
     typedef struct {
         ManualControlSettings::DataFields manualSettingsData;
         ActuatorSettings::DataFields actuatorSettingsData;

ground/gcs/src/plugins/config/input.ui

@@ -17,7 +17,7 @@
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
-      <number>2</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="RCInput">
       <attribute name="title">
@@ -2336,6 +2336,106 @@ font:bold;</string>
            <property name="bottomMargin">
             <number>12</number>
            </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox_b8">
+             <property name="title">
+              <string>Battery Failsafe Settings</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_b12">
+              <property name="leftMargin">
+               <number>9</number>
+              </property>
+              <property name="topMargin">
+               <number>9</number>
+              </property>
+              <property name="rightMargin">
+               <number>9</number>
+              </property>
+              <property name="bottomMargin">
+               <number>9</number>
+              </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
+              <item row="1" column="0">
+               <layout class="QGridLayout" name="horizontalLayout_b2">
+                <item row="1" column="0">
+                 <widget class="QCheckBox" name="failsafeBatteryWarningFlightModeCb">
+                  <property name="text">
+                   <string>On battery warning alarm change flight mode to:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="1">
+                 <widget class="QComboBox" name="failsafeBatteryWarningFlightMode">
+                  <property name="minimumSize">
+                   <size>
+                    <width>200</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>When triggering battery Warning alarm switch to this flight mode.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="2">
+                 <spacer name="horizontalSpacer_B28">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="2" column="0">
+                 <widget class="QCheckBox" name="failsafeBatteryCriticalFlightModeCb">
+                  <property name="text">
+                   <string>On battery critical alarm change flight mode to:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="1">
+                 <widget class="QComboBox" name="failsafeBatteryCriticalFlightMode">
+                  <property name="minimumSize">
+                   <size>
+                    <width>200</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>When triggering battery Critical alarm switch to this flight mode.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="2">
+                 <spacer name="horizontalSpacer_B18">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </widget>
+           </item>
            <item>
             <widget class="QGroupBox" name="groupBox_8">
              <property name="title">
@@ -2358,86 +2458,6 @@ font:bold;</string>
                <number>6</number>
               </property>
               <item row="1" column="0">
-               <layout class="QHBoxLayout" name="horizontalLayout_b2">
-                <item>
-                 <widget class="QCheckBox" name="failsafeBatteryWarningFlightModeCb">
-                  <property name="text">
-                   <string>On Battery Warning alarm change flight mode to:</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <widget class="QComboBox" name="failsafeBatteryWarningFlightMode">
-                  <property name="minimumSize">
-                   <size>
-                    <width>200</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="focusPolicy">
-                   <enum>Qt::StrongFocus</enum>
-                  </property>
-                  <property name="toolTip">
-                   <string>When triggering battery Warning alarm switch to this flight mode.</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_B28">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-               </layout>
-              </item>
-              <item row="2" column="0">
-               <layout class="QHBoxLayout" name="horizontalLayout_b1">
-                <item>
-                 <widget class="QCheckBox" name="failsafeBatteryCriticalFlightModeCb">
-                  <property name="text">
-                   <string>On Battery Critical alarm change flight mode to:</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <widget class="QComboBox" name="failsafeBatteryCriticalFlightMode">
-                  <property name="minimumSize">
-                   <size>
-                    <width>200</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="focusPolicy">
-                   <enum>Qt::StrongFocus</enum>
-                  </property>
-                  <property name="toolTip">
-                   <string>When triggering battery Critical alarm switch to this flight mode.</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_B18">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-               </layout>
-              </item>
-              <item row="3" column="0">
                <layout class="QHBoxLayout" name="horizontalLayout_4">
                 <item>
                  <widget class="QCheckBox" name="failsafeFlightModeCb">
@@ -2491,14 +2511,14 @@ font:bold;</string>
                 </item>
                </layout>
               </item>
-              <item row="5" column="0">
+              <item row="3" column="0">
                <layout class="QGridLayout" name="failsafeChannelsLayout">
                 <property name="topMargin">
                  <number>10</number>
                 </property>
                </layout>
               </item>
-              <item row="4" column="0">
+              <item row="2" column="0">
                <widget class="QLabel" name="label">
                 <property name="text">
                  <string>Channel input settings on failsafe:</string>
@@ -2548,7 +2568,9 @@ font:bold;</string>
                 </property>
                 <property name="plainText">
                  <string>Failsafe is a function that is triggered when the connection between the transmitter and receiver is lost. Failsafe gives the user a chance to configure some basic behaviour and specify what input the flight controller should get even if no control signals from the transmitter is present.
-The failsafe is triggered differently for different receivers. Failsafe should always be tested before every flight.</string>
+The failsafe is triggered differently for different receivers. Failsafe should always be tested before every flight.
+
+Battery Failsafe triggers the selected flight modes as soon as the related alarm is raised. It needs Battery module enabled and configured. It is not available on CC3D.</string>
                 </property>
                 <property name="backgroundVisible">
                  <bool>false</bool>

shared/uavobjectdefinition/flightbatterysettings.xml

@@ -5,7 +5,7 @@
         <field name="Type" units="" type="enum" elements="1" options="LiPo,A123,LiCo,LiFeSO4,None" defaultvalue="LiPo"/>
         <field name="NbCells" units=""  type="uint8"  elements="1" defaultvalue="0"/>
         <field name="Capacity" units="mAh"  type="uint32"  elements="1" defaultvalue="0"/>
-        <field name="CellVoltageThresholds" units="V"  type="float" elementnames="Warning, Critical" defaultvalue="3.8,3.5"/>
+        <field name="CellVoltageThresholds" units="V"  type="float" elementnames="Warning, Critical" defaultvalue="3.4,3.1"/>
         <field name="SensorCalibrations" units="" type="float" elementnames="VoltageFactor, CurrentFactor, VoltageZero, CurrentZero" defaultvalue="1.0, 1.0, 0.0, 0.0"/>
         <field name="ResetConsumedEnergy" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
         <access gcs="readwrite" flight="readwrite"/>

shared/uavobjectdefinition/flightmodesettings.xml

@@ -95,7 +95,7 @@
         <field name="AutoTakeOffHeight" units="m" type="float" elements="1" defaultvalue="2.5" description="height in meters above arming altitude to climb to during autotakeoff"/>
         <field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/>
 	<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/>
-    <field name="BatteryFailsafeSwitchPositions" units="" type="int8" elementnames="Warning,Critical"  defaultvalue="-1" />
+    <field name="BatteryFailsafeSwitchPositions" units="" type="int8" elementnames="Warning,Critical" defaultvalue="-1" />
 	<field name="FlightModeChangeRestartsPathPlan" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" description="wether a path plan should continue when interrupted by flight mode change (False), or restart from waypoint 0 (True)"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>