CC-36: Added panel to config gadget for zeroing the bias on CC. Ed will make

the appropriate window show for CC or OP calibration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3091 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/openpilotgcs/src/plugins/config/config.pro

@@ -24,11 +24,12 @@ HEADERS += configplugin.h \
     configairframewidget.h \
     configtelemetrywidget.h \
     configahrswidget.h \
+    configccattitudewidget.h \
     mixercurvewidget.h \
     mixercurvepoint.h \
     mixercurveline.h \
     configccpmwidget.h \
-	configstabilizationwidget.h \
+    configstabilizationwidget.h \
     assertions.h \
     calibration.h
 
@@ -45,15 +46,16 @@ SOURCES += configplugin.cpp \
     configairframewidget.cpp \
     configtelemetrywidget.cpp \
     configahrswidget.cpp \
+    configccattitudewidget.cpp \
     mixercurvewidget.cpp \
     mixercurvepoint.cpp \
     mixercurveline.cpp \
     configccpmwidget.cpp \
-	configstabilizationwidget.cpp \
+    configstabilizationwidget.cpp \
     twostep.cpp \
     legacy-calibration.cpp \
     gyro-calibration.cpp \
-    alignment-calibration.cpp
+    alignment-calibration.cpp \
     
 FORMS +=  \
     airframe.ui \
@@ -62,6 +64,7 @@ FORMS +=  \
     ccpm.ui \
     stabilization.ui \
     input.ui \
-    output.ui
+    output.ui \
+    ccattitude.ui
 
 RESOURCES += configgadget.qrc

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

@@ -670,14 +670,6 @@ void ConfigAHRSWidget::attitudeRawUpdated(UAVObject * obj)
     }
 }
 
-double ConfigAHRSWidget::listMean(QList<double> list)
-{
-    double accum = 0;
-    for(int i = 0; i < list.size(); i++)
-        accum += list[i];
-    return accum / list.size();
-}
-
 /**
   * Saves the data from the aircraft in one of six positions
   */

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

@@ -97,7 +97,6 @@ private:
 
     UAVObject::Metadata initialMdata;
 
-    double listMean(QList<double> list);
     void computeGyroDrift();
 
 private slots:

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

@@ -24,16 +24,18 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
+
 #include "configahrswidget.h"
 #include "configgadgetwidget.h"
 
 #include "fancytabwidget.h"
+#include "configairframewidget.h"
+#include "configccattitudewidget.h"
 #include "configinputwidget.h"
 #include "configoutputwidget.h"
-#include "configairframewidget.h"
+#include "configstabilizationwidget.h"
 #include "configtelemetrywidget.h"
 
-#include "configstabilizationwidget.h"
 
 #include <QDebug>
 #include <QStringList>
@@ -77,7 +79,10 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     qwd = new ConfigTelemetryWidget(this);
     ftw->insertTab(5, qwd, QIcon(":/configgadget/images/XBee.svg"), QString("Telemetry"));
 
-//    qwd = new ConfigPipXtremeWidget(this);
+    qwd = new ConfigCCAttitudeWidget(this);
+    ftw->insertTab(5, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("CC Attitude"));
+
+    //    qwd = new ConfigPipXtremeWidget(this);
 //    ftw->insertTab(5, qwd, QIcon(":/configgadget/images/PipXtreme.png"), QString("PipXtreme"));
 
     // *********************

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

@@ -98,9 +98,20 @@ void ConfigTaskWidget::updateObjectPersistance(ObjectPersistence::OperationOptio
 
 UAVObjectManager* ConfigTaskWidget::getObjectManager() {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    return pm->getObject<UAVObjectManager>();
+    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objMngr);
+    return objMngr;
 }
 
+double ConfigTaskWidget::listMean(QList<double> list)
+{
+    double accum = 0;
+    for(int i = 0; i < list.size(); i++)
+        accum += list[i];
+    return accum / list.size();
+}
+
+
 /**
   @}
   @}

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

@@ -48,6 +48,8 @@ public:
     void updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj);
     UAVObjectManager* getObjectManager();
 
+    static double listMean(QList<double> list);
+
 public slots:
     void transactionCompleted(UAVObject* obj, bool success);