QGCPX4VehicleConfig.cc

// On Windows (for VS2010) stdint.h contains the limits normally contained in limits.h
// It also needs the __STDC_LIMIT_MACROS macro defined in order to include them (done
// in qgroundcontrol.pri).
#ifdef WIN32
#include <stdint.h>
#else
#include <limits.h>
#endif

#include <QTimer>
#include <QDir>
#include <QXmlStreamReader>
#include <QMessageBox>
#include <QLabel>

#include "QGCPX4VehicleConfig.h"

#include "QGC.h"
#include "QGCPendingParamWidget.h"
#include "QGCToolWidget.h"
#include "UASManager.h"
#include "UASParameterCommsMgr.h"
#include "ui_QGCPX4VehicleConfig.h"
#include "px4_configuration/QGCPX4AirframeConfig.h"
#include <dialog_bare.h>

#define WIDGET_INDEX_FIRMWARE 0
#define WIDGET_INDEX_RC 1
#define WIDGET_INDEX_SENSOR_CAL 2
#define WIDGET_INDEX_AIRFRAME_CONFIG 3
#define WIDGET_INDEX_GENERAL_CONFIG 4
#define WIDGET_INDEX_ADV_CONFIG 5

#define MIN_PWM_VAL 800
#define MAX_PWM_VAL 2200

QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
    QWidget(parent),
    mav(NULL),
    chanCount(0),
    rcRoll(0.0f),
    rcPitch(0.0f),
    rcYaw(0.0f),
    rcThrottle(0.0f),
    rcMode(0.0f),
    rcAux1(0.0f),
    rcAux2(0.0f),
    rcAux3(0.0f),
    dataModelChanged(true),
    channelWanted(-1),
    rc_mode(RC_MODE_NONE),
    calibrationEnabled(false),
    px4AirframeConfig(NULL),
    #ifdef QUPGRADE_SUPPORT
    firmwareDialog(NULL),
    #endif
    ui(new Ui::QGCPX4VehicleConfig)
{
    doneLoadingConfig = false;

    channelNames << "Roll / Aileron";
    channelNames << "Pitch / Elevator";
    channelNames << "Yaw / Rudder";
    channelNames << "Throttle";
    channelNames << "SW1 / Main Mode Switch";
    channelNames << "SW2 / Sub Mode Switch";
    channelNames << "Aux1 / Flaps";
    channelNames << "Aux2";
    channelNames << "Aux3";
    channelNames << "Aux4";
    channelNames << "Aux5";
    channelNames << "Aux6";

    setObjectName("QGC_VEHICLECONFIG");
    ui->setupUi(this);

    px4AirframeConfig = new QGCPX4AirframeConfig(this);
    ui->airframeLayout->addWidget(px4AirframeConfig);

#ifdef QUPGRADE_SUPPORT
    firmwareDialog = new DialogBare(this);
    ui->firmwareLayout->addWidget(firmwareDialog);
#else
#error Please check out QUpgrade from http://github.com/LorenzMeier/qupgrade/ into the QGroundControl folder.

    QLabel* label = new QLabel(this);
    label->setText("THIS VERSION OF QGROUNDCONTROL WAS BUILT WITHOUT QUPGRADE. To enable firmware upload support, checkout QUpgrade WITHIN the QGroundControl folder");
    ui->firmwareLayout->addWidget(label);
#endif

    ui->rollWidget->setOrientation(Qt::Horizontal);
    ui->rollWidget->setName("Roll");
    ui->yawWidget->setOrientation(Qt::Horizontal);
    ui->yawWidget->setName("Yaw");
    ui->pitchWidget->setName("Pitch");
    ui->throttleWidget->setName("Throttle");
    ui->radio5Widget->setOrientation(Qt::Horizontal);
    ui->radio5Widget->setName("Radio 5");
    ui->radio6Widget->setOrientation(Qt::Horizontal);
    ui->radio6Widget->setName("Radio 6");
    ui->radio7Widget->setOrientation(Qt::Horizontal);
    ui->radio7Widget->setName("Radio 7");
    ui->radio8Widget->setOrientation(Qt::Horizontal);
    ui->radio8Widget->setName("Radio 8");

    connect(ui->rcMenuButton,SIGNAL(clicked()),
            this,SLOT(rcMenuButtonClicked()));
    connect(ui->sensorMenuButton,SIGNAL(clicked()),
            this,SLOT(sensorMenuButtonClicked()));
    connect(ui->generalMenuButton,SIGNAL(clicked()),
            this,SLOT(generalMenuButtonClicked()));
    connect(ui->advancedMenuButton,SIGNAL(clicked()),
            this,SLOT(advancedMenuButtonClicked()));
    connect(ui->airframeMenuButton, SIGNAL(clicked()),
            this, SLOT(airframeMenuButtonClicked()));
    connect(ui->firmwareMenuButton, SIGNAL(clicked()),
            this, SLOT(firmwareMenuButtonClicked()));

    ui->rcCalibrationButton->setCheckable(true);
    connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
    connect(ui->writeButton, SIGNAL(clicked()),
            this, SLOT(writeParameters()));

    //TODO connect buttons here to save/clear actions?
    UASInterface* tmpMav = UASManager::instance()->getActiveUAS();
    if (tmpMav) {
        ui->pendingCommitsWidget->initWithUAS(tmpMav);
        ui->pendingCommitsWidget->update();
        setActiveUAS(tmpMav);
    }

    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
            this, SLOT(setActiveUAS(UASInterface*)));

    // Connect RC mapping assignments
    connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
    connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
    connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
    connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
    connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
    connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
    connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
    connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(int)));

    // Connect RC reverse assignments
    connect(ui->invertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setRollInverted(bool)));
    connect(ui->invertCheckBox_2, SIGNAL(clicked(bool)), this, SLOT(setPitchInverted(bool)));
    connect(ui->invertCheckBox_3, SIGNAL(clicked(bool)), this, SLOT(setYawInverted(bool)));
    connect(ui->invertCheckBox_4, SIGNAL(clicked(bool)), this, SLOT(setThrottleInverted(bool)));
    connect(ui->invertCheckBox_5, SIGNAL(clicked(bool)), this, SLOT(setModeInverted(bool)));
    connect(ui->invertCheckBox_6, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
    connect(ui->invertCheckBox_7, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
    connect(ui->invertCheckBox_8, SIGNAL(clicked(bool)), this, SLOT(setAux3Inverted(bool)));

    connect(ui->rollButton, SIGNAL(clicked()), this, SLOT(identifyRollChannel()));
    connect(ui->pitchButton, SIGNAL(clicked()), this, SLOT(identifyPitchChannel()));
    connect(ui->yawButton, SIGNAL(clicked()), this, SLOT(identifyYawChannel()));
    connect(ui->throttleButton, SIGNAL(clicked()), this, SLOT(identifyThrottleChannel()));
    connect(ui->modeButton, SIGNAL(clicked()), this, SLOT(identifyModeChannel()));
    connect(ui->subButton, SIGNAL(clicked()), this, SLOT(identifySubModeChannel()));
    connect(ui->aux1Button, SIGNAL(clicked()), this, SLOT(identifyAux1Channel()));
    connect(ui->aux2Button, SIGNAL(clicked()), this, SLOT(identifyAux2Channel()));

    for (unsigned int i = 0; i < chanMax; i++) {
        rcValue[i] = UINT16_MAX;
        rcMapping[i] = i;
        channelWantedList[i] = UINT16_MAX;
        rcMin[i] = 1000;
        rcMax[i] = 2000;
    }

    updateTimer.setInterval(150);
    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
    updateTimer.start();
}

void QGCPX4VehicleConfig::rcMenuButtonClicked()
{
    //TODO eg ui->stackedWidget->findChild("rcConfig");
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_RC);
}

void QGCPX4VehicleConfig::sensorMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_SENSOR_CAL);
}

void QGCPX4VehicleConfig::generalMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_GENERAL_CONFIG);
}

void QGCPX4VehicleConfig::advancedMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_ADV_CONFIG);
}

void QGCPX4VehicleConfig::airframeMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_AIRFRAME_CONFIG);
}

void QGCPX4VehicleConfig::firmwareMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_FIRMWARE);
}

void QGCPX4VehicleConfig::identifyChannelMapping(int aert_index)
{
    if (chanCount == 0)
        return;

    int oldmapping = rcMapping[aert_index];

    channelWanted = aert_index;

    for (unsigned i = 0; i < sizeof(channelWantedList) / sizeof(channelWantedList[0]); i++)
    {
        if (i >= chanCount) {
            channelWantedList[i] = 0;
        } else {
            channelWantedList[i] = rcValue[i];
        }
    }

    msgBox.setText(tr("Identifying %1 channel").arg(channelNames[channelWanted]));
    msgBox.setInformativeText(tr("Please move stick, switch or potentiometer for the %1 channel\n all the way up/down or left/right.").arg(channelNames[channelWanted]));
    msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    if (QMessageBox::Cancel == msgBox.exec())
    {
        channelWanted = -1;
        rcMapping[aert_index] = oldmapping;
        return;
    }

}

QGCPX4VehicleConfig::~QGCPX4VehicleConfig()
{
    delete ui;
}

void QGCPX4VehicleConfig::setRCModeIndex(int newRcMode)
{
    newRcMode += 1; //promote from an index to a mode enum
    if (newRcMode > 0 && newRcMode < 5) {
        rc_mode = (enum RC_MODE) (newRcMode);
        dataModelChanged = true;
    }
}

void QGCPX4VehicleConfig::toggleCalibrationRC(bool enabled)
{
    if (enabled)
    {
        startCalibrationRC();
    }
    else
    {
        stopCalibrationRC();
    }
}

void QGCPX4VehicleConfig::setTrimPositions()
{
    // Set trim to min if stick is close to min
    if (abs(rcValue[rcMapping[3]] - rcMin[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMin[rcMapping[3]];   // throttle
    }
    // Set trim to max if stick is close to max
    else if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMax[rcMapping[3]];   // throttle
    }
    else
    {
        // Reject
        QMessageBox msgBox;
        msgBox.setText(tr("Throttle Stick Trim Position Invalid"));
        msgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        (void)msgBox.exec();
    }

    // Set trim for roll, pitch, yaw, throttle
    rcTrim[rcMapping[0]] = rcValue[rcMapping[0]]; // roll
    rcTrim[rcMapping[1]] = rcValue[rcMapping[1]]; // pitch
    rcTrim[rcMapping[2]] = rcValue[rcMapping[2]]; // yaw

    rcTrim[rcMapping[4]] = ((rcMax[rcMapping[4]] - rcMin[rcMapping[4]]) / 2.0f) + rcMin[rcMapping[4]];   // mode sw
    rcTrim[rcMapping[5]] = ((rcMax[rcMapping[5]] - rcMin[rcMapping[5]]) / 2.0f) + rcMin[rcMapping[5]];   // aux 1
    rcTrim[rcMapping[6]] = ((rcMax[rcMapping[6]] - rcMin[rcMapping[6]]) / 2.0f) + rcMin[rcMapping[6]];   // aux 2
    rcTrim[rcMapping[7]] = ((rcMax[rcMapping[7]] - rcMin[rcMapping[7]]) / 2.0f) + rcMin[rcMapping[7]];   // aux 3
}

void QGCPX4VehicleConfig::detectChannelInversion()
{

}

void QGCPX4VehicleConfig::startCalibrationRC()
{
    QMessageBox::warning(0,"Warning!","You are about to start radio calibration.\nPlease ensure all motor power is disconnected AND all props are removed from the vehicle.\nAlso ensure transmitter and receiver are powered and connected\n\nDo not move the RC sticks, then click OK to confirm");

    for (int i = 0; i < 5; i++) {
        identifyChannelMapping(i);
    }

    QMessageBox::information(0,"Information","Additional channels have not been mapped, but can be mapped in the channel table below.");

    QMessageBox::information(0,"Information","Click OK, then move all sticks to their extreme positions, watching the min/max values to ensure you get the most range from your controller. This includes all switches");
    ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
    resetCalibrationRC();
    calibrationEnabled = true;
    ui->rollWidget->showMinMax();
    ui->pitchWidget->showMinMax();
    ui->yawWidget->showMinMax();
    ui->throttleWidget->showMinMax();
    ui->radio5Widget->showMinMax();
    ui->radio6Widget->showMinMax();
    ui->radio7Widget->showMinMax();
    ui->radio8Widget->showMinMax();
}

void QGCPX4VehicleConfig::stopCalibrationRC()
{
    QMessageBox::information(0,"Trims","Ensure all sticks are centeres and throttle is in the downmost position, click OK to continue");

    calibrationEnabled = false;
    ui->rcCalibrationButton->setText(tr("Start RC Calibration"));

    ui->rollWidget->hideMinMax();
    ui->pitchWidget->hideMinMax();
    ui->yawWidget->hideMinMax();
    ui->throttleWidget->hideMinMax();
    ui->radio5Widget->hideMinMax();
    ui->radio6Widget->hideMinMax();
    ui->radio7Widget->hideMinMax();
    ui->radio8Widget->hideMinMax();

    for (int i=0;i<chanCount;i++)
    {
        if (rcMin[i] > 1350)
        {
            rcMin[i] = 1000;
        }

        if (rcMax[i] < 1650)
        {
            rcMax[i] = 2000;
        }
    }

    qDebug() << "SETTING TRIM";
    setTrimPositions();

    QString statusstr;
    statusstr = "Below you will find the detected radio calibration information that will be sent to the autopilot\n";
    statusstr += "Normal values are around 1100 to 1900, with disconnected channels reading 1000, 1500, 2000\n\n";
    statusstr += "Channel\tMin\tCenter\tMax\n";
    statusstr += "--------------------\n";
    for (int i=0;i<chanCount;i++)
    {
        statusstr += QString::number(i) +"\t"+ QString::number(rcMin[i]) +"\t"+ QString::number(rcValue[i]) +"\t"+ QString::number(rcMax[i]) +"\n";
    }
    QMessageBox::information(0,"Status",statusstr);


}

void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
{
    Q_UNUSED(primary);
    QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
    QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
    QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
    if (!autopilotdir.exists("general"))
    {
     //TODO: Throw some kind of error here. There is no general configuration directory
        qWarning() << "Invalid general dir. no general configuration will be loaded.";
    }
    if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
    {
        //TODO: Throw an error here too, no autopilot specific configuration
        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
    }

    // Generate widgets for the General tab.
    QGCToolWidget *tool;
    bool left = true;
    foreach (QString file,generaldir.entryList(QDir::Files | QDir::NoDotAndDotDot))
    {
        if (file.toLower().endsWith(".qgw")) {
            QWidget* parent = left?ui->generalLeftContents:ui->generalRightContents;
            tool = new QGCToolWidget("", parent);
            if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
            {
                toolWidgets.append(tool);
                QGroupBox *box = new QGroupBox(parent);
                box->setTitle(tool->objectName());
                box->setLayout(new QVBoxLayout(box));
                box->layout()->addWidget(tool);
                if (left)
                {
                    left = false;
                    ui->generalLeftLayout->addWidget(box);
                }
                else
                {
                    left = true;
                    ui->generalRightLayout->addWidget(box);
                }
            } else {
                delete tool;
            }
        }
    }

    // Generate widgets for the Advanced tab.
    foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
    {
        if (file.toLower().endsWith(".qgw")) {
            QWidget* parent = ui->advanceColumnContents;
            tool = new QGCToolWidget("", parent);
            if (tool->loadSettings(vehicledir.absoluteFilePath(file), false))
            {
                toolWidgets.append(tool);
                QGroupBox *box = new QGroupBox(parent);
                box->setTitle(tool->objectName());
                box->setLayout(new QVBoxLayout(box));
                box->layout()->addWidget(tool);
                ui->advancedColumnLayout->addWidget(box);

            } else {
                delete tool;
            }
        }
    }

    // Load tabs for general configuration
    foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
    {
        QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
        connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
        ui->navBarLayout->insertWidget(2,button);
        button->setMinimumHeight(75);
        button->setMinimumWidth(100);
        button->show();
        button->setText(dir);
        QWidget *tab = new QWidget(ui->stackedWidget);
        ui->stackedWidget->insertWidget(2,tab);
        buttonToWidgetMap[button] = tab;
        tab->setLayout(new QVBoxLayout());
        tab->show();
        QScrollArea *area = new QScrollArea(tab);
        tab->layout()->addWidget(area);
        QWidget *scrollArea = new QWidget(tab);
        scrollArea->setLayout(new QVBoxLayout(tab));
        area->setWidget(scrollArea);
        area->setWidgetResizable(true);
        area->show();
        scrollArea->show();
        QDir newdir = QDir(generaldir.absoluteFilePath(dir));
        foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
        {
            if (file.toLower().endsWith(".qgw")) {
                tool = new QGCToolWidget("", tab);
                if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                {
                    toolWidgets.append(tool);
                    //ui->sensorLayout->addWidget(tool);
                    QGroupBox *box = new QGroupBox(tab);
                    box->setTitle(tool->objectName());
                    box->setLayout(new QVBoxLayout(tab));
                    box->layout()->addWidget(tool);
                    scrollArea->layout()->addWidget(box);
                } else {
                    delete tool;
                }
            }
        }
    }

    // Load additional tabs for vehicle specific configuration
    foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
    {
        QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
        connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
        ui->navBarLayout->insertWidget(2,button);

        QWidget *tab = new QWidget(ui->stackedWidget);
        ui->stackedWidget->insertWidget(2,tab);
        buttonToWidgetMap[button] = tab;

        button->setMinimumHeight(75);
        button->setMinimumWidth(100);
        button->show();
        button->setText(dir);
        tab->setLayout(new QVBoxLayout());
        tab->show();
        QScrollArea *area = new QScrollArea(tab);
        tab->layout()->addWidget(area);
        QWidget *scrollArea = new QWidget(tab);
        scrollArea->setLayout(new QVBoxLayout(tab));
        area->setWidget(scrollArea);
        area->setWidgetResizable(true);
        area->show();
        scrollArea->show();

        QDir newdir = QDir(vehicledir.absoluteFilePath(dir));
        foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
        {
            if (file.toLower().endsWith(".qgw")) {
                tool = new QGCToolWidget("", tab);
                tool->addUAS(mav);
                if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                {
                    toolWidgets.append(tool);
                    //ui->sensorLayout->addWidget(tool);
                    QGroupBox *box = new QGroupBox(tab);
                    box->setTitle(tool->objectName());
                    box->setLayout(new QVBoxLayout(box));
                    box->layout()->addWidget(tool);
                    scrollArea->layout()->addWidget(box);
                    box->show();
                    //gbox->layout()->addWidget(box);
                } else {
                    delete tool;
                }
            }
        }
    }


    // Load general calibration for autopilot
    //TODO: Handle this more gracefully, maybe have it scan the directory for multiple calibration entries?
    tool = new QGCToolWidget("", ui->sensorContents);
    tool->addUAS(mav);
    if (tool->loadSettings(autopilotdir.absolutePath() + "/general/calibration/calibration.qgw", false))
    {
        toolWidgets.append(tool);
        QGroupBox *box = new QGroupBox(ui->sensorContents);
        box->setTitle(tool->objectName());
        box->setLayout(new QVBoxLayout(box));
        box->layout()->addWidget(tool);
        ui->sensorLayout->addWidget(box);
    } else {
        delete tool;
    }

    // Load vehicle-specific autopilot configuration
    tool = new QGCToolWidget("", ui->sensorContents);
    tool->addUAS(mav);
    if (tool->loadSettings(autopilotdir.absolutePath() + "/" +  mav->getSystemTypeName().toLower() + "/calibration/calibration.qgw", false))
    {
        toolWidgets.append(tool);
        QGroupBox *box = new QGroupBox(ui->sensorContents);
        box->setTitle(tool->objectName());
        box->setLayout(new QVBoxLayout(box));
        box->layout()->addWidget(tool);
        ui->sensorLayout->addWidget(box);
    } else {
        delete tool;
    }

//    //description.txt
//    QFile sensortipsfile(autopilotdir.absolutePath() + "/general/calibration/description.txt");
//    sensortipsfile.open(QIODevice::ReadOnly);
////    ui->sensorTips->setHtml(sensortipsfile.readAll());
//    sensortipsfile.close();
}
void QGCPX4VehicleConfig::menuButtonClicked()
{
    QPushButton *button = qobject_cast<QPushButton*>(sender());
    if (!button)
    {
        return;
    }
    if (buttonToWidgetMap.contains(button))
    {
        ui->stackedWidget->setCurrentWidget(buttonToWidgetMap[button]);
    }

}

void QGCPX4VehicleConfig::loadConfig()
{
    QGCToolWidget* tool;

    QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
    QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
    QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
    if (!autopilotdir.exists("general"))
    {
     //TODO: Throw some kind of error here. There is no general configuration directory
        qWarning() << "Invalid general dir. no general configuration will be loaded.";
    }
    if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
    {
        //TODO: Throw an error here too, no autopilot specific configuration
        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
    }
    qDebug() << autopilotdir.absolutePath();
    qDebug() << generaldir.absolutePath();
    qDebug() << vehicledir.absolutePath();
    QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml");
    if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly))
    {
        loadQgcConfig(false);
        doneLoadingConfig = true;
        return;
    }
    loadQgcConfig(true);

    QXmlStreamReader xml(xmlfile.readAll());
    xmlfile.close();

    //TODO: Testing to ensure that incorrectly formatted XML won't break this.
    while (!xml.atEnd())
    {
        if (xml.isStartElement() && xml.name() == "paramfile")
        {
            xml.readNext();
            while ((xml.name() != "paramfile") && !xml.atEnd())
            {
                QString valuetype = "";
                if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop
                {
                    valuetype = xml.name().toString();
                    xml.readNext();
                    while ((xml.name() != valuetype) && !xml.atEnd())
                    {
                        if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block
                        {
                            QString parametersname = "";
                            if (xml.attributes().hasAttribute("name"))
                            {
                                    parametersname = xml.attributes().value("name").toString();
                            }
                            QVariantMap genset;
                            QVariantMap advset;

                            QString setname = parametersname;
                            xml.readNext();
                            int genarraycount = 0;
                            int advarraycount = 0;
                            while ((xml.name() != "parameters") && !xml.atEnd())
                            {
                                if (xml.isStartElement() && xml.name() == "param")
                                {
                                    QString humanname = xml.attributes().value("humanName").toString();
                                    QString name = xml.attributes().value("name").toString();
                                    QString tab= xml.attributes().value("user").toString();
                                    if (tab == "Advanced")
                                    {
                                        advset["title"] = parametersname;
                                    }
                                    else
                                    {
                                        genset["title"] = parametersname;
                                    }
                                    if (name.contains(":"))
                                    {
                                        name = name.split(":")[1];
                                    }
                                    QString docs = xml.attributes().value("documentation").toString();
                                    paramTooltips[name] = name + " - " + docs;

                                    int type = -1; //Type of item
                                    QMap<QString,QString> fieldmap;
                                    xml.readNext();
                                    while ((xml.name() != "param") && !xml.atEnd())
                                    {
                                        if (xml.isStartElement() && xml.name() == "values")
                                        {
                                            type = 1; //1 is a combobox
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "COMBO";
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "COMBO";
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
                                            }
                                            int paramcount = 0;
                                            xml.readNext();
                                            while ((xml.name() != "values") && !xml.atEnd())
                                            {
                                                if (xml.isStartElement() && xml.name() == "value")
                                                {

                                                    QString code = xml.attributes().value("code").toString();
                                                    QString arg = xml.readElementText();
                                                    if (tab == "Advanced")
                                                    {
                                                        advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
                                                        advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
                                                    }
                                                    else
                                                    {
                                                        genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
                                                        genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
                                                    }
                                                    paramcount++;
                                                }
                                                xml.readNext();
                                            }
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
                                            }
                                        }
                                        if (xml.isStartElement() && xml.name() == "field")
                                        {
                                            type = 2; //2 is a slider
                                            QString fieldtype = xml.attributes().value("name").toString();
                                            QString text = xml.readElementText();
                                            fieldmap[fieldtype] = text;
                                        }
                                        xml.readNext();
                                    }
                                    if (type == -1)
                                    {
                                        //Nothing inside! Assume it's a value, give it a default range.
                                        type = 2;
                                        QString fieldtype = "Range";
                                        QString text = "0 100"; //TODO: Determine a better way of figuring out default ranges.
                                        fieldmap[fieldtype] = text;
                                    }
                                    if (type == 2)
                                    {
                                        if (tab == "Advanced")
                                        {
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "SLIDER";
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
                                        }
                                        else
                                        {
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "SLIDER";
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
                                        }
                                        if (fieldmap.contains("Range"))
                                        {
                                            float min = 0;
                                            float max = 0;
                                            //Some range fields list "0-10" and some list "0 10". Handle both.
                                            if (fieldmap["Range"].split(" ").size() > 1)
                                            {
                                                min = fieldmap["Range"].split(" ")[0].trimmed().toFloat();
                                                max = fieldmap["Range"].split(" ")[1].trimmed().toFloat();
                                            }
                                            else if (fieldmap["Range"].split("-").size() > 1)
                                            {
                                                min = fieldmap["Range"].split("-")[0].trimmed().toFloat();
                                                max = fieldmap["Range"].split("-")[1].trimmed().toFloat();
                                            }
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
                                            }
                                        }
                                    }
                                    if (tab == "Advanced")
                                    {
                                        advarraycount++;
                                        advset["count"] = advarraycount;
                                    }
                                    else
                                    {
                                        genarraycount++;
                                        genset["count"] = genarraycount;
                                    }
                                }
                                xml.readNext();
                            }
                            if (genarraycount > 0)
                            {
                                QWidget* parent = this;
                                if (valuetype == "vehicles")
                                {
                                    parent = ui->generalLeftContents;
                                }
                                else if (valuetype == "libraries")
                                {
                                    parent = ui->generalRightContents;
                                }
                                tool = new QGCToolWidget("", parent);
                                tool->addUAS(mav);
                                tool->setTitle(parametersname);
                                tool->setObjectName(parametersname);
                                tool->setSettings(genset);
                                QList<QString> paramlist = tool->getParamList();
                                for (int i=0;i<paramlist.size();i++)
                                {
                                    //Based on the airframe, we add the parameter to different categories.
                                    if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
                                    {
                                        systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
                                    {
                                        systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
                                    {
                                        systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
                                    }
                                    else
                                    {
                                        libParamToWidgetMap.insert(paramlist[i],tool);
                                    }
                                }

                                toolWidgets.append(tool);
                                QGroupBox *box = new QGroupBox(parent);
                                box->setTitle(tool->objectName());
                                box->setLayout(new QVBoxLayout(box));
                                box->layout()->addWidget(tool);
                                if (valuetype == "vehicles")
                                {
                                    ui->generalLeftLayout->addWidget(box);
                                }
                                else if (valuetype == "libraries")
                                {
                                    ui->generalRightLayout->addWidget(box);
                                }
                                box->hide();
                                toolToBoxMap[tool] = box;
                            }
                            if (advarraycount > 0)
                            {
                                QWidget* parent = this;
                                if (valuetype == "vehicles")
                                {
                                    parent = ui->generalLeftContents;
                                }
                                else if (valuetype == "libraries")
                                {
                                    parent = ui->generalRightContents;
                                }
                                tool = new QGCToolWidget("", parent);
                                tool->addUAS(mav);
                                tool->setTitle(parametersname);
                                tool->setObjectName(parametersname);
                                tool->setSettings(advset);
                                QList<QString> paramlist = tool->getParamList();
                                for (int i=0;i<paramlist.size();i++)
                                {
                                    //Based on the airframe, we add the parameter to different categories.
                                    if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
                                    {
                                        systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
                                    {
                                        systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
                                    {
                                        systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
                                    }
                                    else
                                    {
                                        libParamToWidgetMap.insert(paramlist[i],tool);
                                    }
                                }

                                toolWidgets.append(tool);
                                QGroupBox *box = new QGroupBox(parent);
                                box->setTitle(tool->objectName());
                                box->setLayout(new QVBoxLayout(box));
                                box->layout()->addWidget(tool);
                                if (valuetype == "vehicles")
                                {
                                    ui->generalLeftLayout->addWidget(box);
                                }
                                else if (valuetype == "libraries")
                                {
                                    ui->generalRightLayout->addWidget(box);
                                }
                                box->hide();
                                toolToBoxMap[tool] = box;
                            }
                        }
                        xml.readNext();
                    }
                }
                xml.readNext();
            }
        }
        xml.readNext();
    }

    if (!paramTooltips.isEmpty()) {
           paramMgr->setParamDescriptions(paramTooltips);
    }
    doneLoadingConfig = true;
    //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
    paramMgr->requestParameterListIfEmpty();
}

void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
{
    // Hide items if NULL and abort
    if (!active) {
        ui->refreshButton->setEnabled(false);
        ui->refreshButton->show();
        ui->readButton->setEnabled(false);
        ui->readButton->show();
        ui->writeButton->setEnabled(false);
        ui->writeButton->show();
        ui->loadFileButton->setEnabled(false);
        ui->loadFileButton->show();
        ui->saveFileButton->setEnabled(false);
        ui->saveFileButton->show();

        return;
    }


    // Do nothing if UAS is already visible
    if (mav == active)
        return;

    if (mav)
    {

        // Disconnect old system
        disconnect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                   SLOT(remoteControlChannelRawChanged(int,float)));
        //TODO use paramCommsMgr instead
        disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                   SLOT(parameterChanged(int,int,QString,QVariant)));
        disconnect(ui->refreshButton,SIGNAL(clicked()),
                   paramMgr,SLOT(requestParameterList()));

        // Delete all children from all fixed tabs.
        foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>()) {
            child->deleteLater();
        }
        foreach(QWidget* child, ui->generalRightContents->findChildren<QWidget*>()) {
            child->deleteLater();
        }
        foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>()) {
            child->deleteLater();
        }
        foreach(QWidget* child, ui->sensorContents->findChildren<QWidget*>()) {
            child->deleteLater();
        }

        foreach(QWidget* child, ui->airframeLayout->findChildren<QWidget*>())
        {
            child->deleteLater();
        }

        // And then delete any custom tabs
        foreach(QWidget* child, additionalTabs) {
            child->deleteLater();
        }
        additionalTabs.clear();

        toolWidgets.clear();
        paramToWidgetMap.clear();
        libParamToWidgetMap.clear();
        systemTypeToParamMap.clear();
        toolToBoxMap.clear();
        paramTooltips.clear();
    }

    // Connect new system
    mav = active;

    paramMgr = mav->getParamManager();

    ui->pendingCommitsWidget->setUAS(mav);

    // Reset current state