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 "QGCToolWidget.h"
#include "UASManager.h"
#include "LinkManager.h"
#include "UASParameterCommsMgr.h"
#include "ui_QGCPX4VehicleConfig.h"
#include "px4_configuration/QGCPX4AirframeConfig.h"
#include "px4_configuration/QGCPX4SensorCalibration.h"

#ifdef QGC_QUPGRADE_ENABLED
#include <dialog_bare.h>
#endif

#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),
    channelWanted(-1),
    channelReverseStateWanted(-1),
    rcRoll(0.0f),
    rcPitch(0.0f),
    rcYaw(0.0f),
    rcThrottle(0.0f),
    rcMode(0.0f),
    rcAssist(0.0f),
    rcLoiter(0.0f),
    rcReturn(0.0f),
    rcFlaps(0.0f),
    rcAux1(0.0f),
    rcAux2(0.0f),
    dataModelChanged(true),
    calibrationEnabled(false),
    configEnabled(false),
    px4AirframeConfig(NULL),
    planeBack(":/files/images/px4/rc/cessna_back.png"),
    planeSide(":/files/images/px4/rc/cessna_side.png"),
    px4SensorCalibration(NULL),
    ui(new Ui::QGCPX4VehicleConfig)
{
    doneLoadingConfig = false;

    channelNames << "Roll / Aileron";
    channelNames << "Pitch / Elevator";
    channelNames << "Yaw / Rudder";
    channelNames << "Throttle";
    channelNames << "Main Mode Switch";
    channelNames << "Posctl Switch";
    channelNames << "Loiter Switch";
    channelNames << "Return Switch";
    channelNames << "Flaps";
    channelNames << "Aux1";
    channelNames << "Aux2";
    channelNames << "Aux3";
    channelNames << "Aux4";
    channelNames << "Aux5";
    channelNames << "Aux6";
    channelNames << "Aux7";
    channelNames << "Aux8";

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

    ui->advancedMenuButton->setEnabled(false);
    ui->airframeMenuButton->setEnabled(false);
    ui->sensorMenuButton->setEnabled(false);
    ui->rcMenuButton->setEnabled(false);
    ui->generalMenuButton->hide();

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

    px4SensorCalibration = new QGCPX4SensorCalibration(this);
    ui->sensorLayout->addWidget(px4SensorCalibration);

#ifdef QGC_QUPGRADE_ENABLED
    DialogBare *firmwareDialog = new DialogBare(this);
    ui->firmwareLayout->addWidget(firmwareDialog);

    connect(firmwareDialog, SIGNAL(connectLinks()), LinkManager::instance(), SLOT(connectAll()));
    connect(firmwareDialog, SIGNAL(disconnectLinks()), LinkManager::instance(), SLOT(disconnectAll()));
#else

    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");
    ui->radio9Widget->setOrientation(Qt::Horizontal);
    ui->radio9Widget->setName("Radio 9");
    ui->radio10Widget->setOrientation(Qt::Horizontal);
    ui->radio10Widget->setName("Radio 10");
    ui->radio11Widget->setOrientation(Qt::Horizontal);
    ui->radio11Widget->setName("Radio 11");
    ui->radio12Widget->setOrientation(Qt::Horizontal);
    ui->radio12Widget->setName("Radio 12");
    ui->radio13Widget->setOrientation(Qt::Horizontal);
    ui->radio13Widget->setName("Radio 13");
    ui->radio14Widget->setOrientation(Qt::Horizontal);
    ui->radio14Widget->setName("Radio 14");
    ui->radio15Widget->setOrientation(Qt::Horizontal);
    ui->radio15Widget->setName("Radio 15");
    ui->radio16Widget->setOrientation(Qt::Horizontal);
    ui->radio16Widget->setName("Radio 16");
    ui->radio17Widget->setOrientation(Qt::Horizontal);
    ui->radio17Widget->setName("Radio 17");
    ui->radio18Widget->setOrientation(Qt::Horizontal);
    ui->radio18Widget->setName("Radio 18");

    connect(ui->rcMenuButton,SIGNAL(clicked()),
            this,SLOT(rcMenuButtonClicked()));
    connect(ui->rcCopyTrimButton, SIGNAL(clicked()),
            this, SLOT(copyAttitudeTrim()));
    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()));

    connect(ui->advancedCheckBox, SIGNAL(clicked(bool)), ui->advancedGroupBox, SLOT(setVisible(bool)));
    ui->advancedGroupBox->setVisible(false);

#if 0
    // XXX WIP don't connect signal until completed, otherwise view will show after advanced is turned on and then off
    connect(ui->advancedCheckBox, SIGNAL(clicked(bool)), ui->graphicsView, SLOT(setHidden(bool)));
    ui->graphicsView->setVisible(true);
    ui->graphicsView->setScene(&scene);

    scene.addPixmap(planeBack);
    scene.addPixmap(planeSide);
#else
    // XXX hide while WIP
    ui->graphicsView->hide();
#endif

    ui->rcCalibrationButton->setCheckable(true);
    ui->rcCalibrationButton->setEnabled(false);
    connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
    ui->spektrumPairButton->setCheckable(false);
    ui->spektrumPairButton->setEnabled(false);
    connect(ui->spektrumPairButton, SIGNAL(clicked(bool)), this, SLOT(toggleSpektrumPairing(bool)));

    //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->posctlSwSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAssistChan(int)));
    connect(ui->loiterSwSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setMissionChan(int)));
    connect(ui->returnSwSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setReturnChan(int)));
    connect(ui->flapsSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setFlapsChan(int)));
    connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
    connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(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->posctlSwInvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAssistInverted(bool)));
    connect(ui->loiterSwInvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setMissionInverted(bool)));
    connect(ui->returnSwInvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setReturnInverted(bool)));
    connect(ui->flapsInvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setFlapsInverted(bool)));
    connect(ui->aux1InvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
    connect(ui->aux2InvertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(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->posctlSwButton, SIGNAL(clicked()), this, SLOT(identifyAssistChannel()));
    connect(ui->loiterSwButton, SIGNAL(clicked()), this, SLOT(identifyMissionChannel()));
    connect(ui->returnSwButton, SIGNAL(clicked()), this, SLOT(identifyReturnChannel()));
    connect(ui->flapsButton, SIGNAL(clicked()), this, SLOT(identifyFlapsChannel()));
    connect(ui->aux1Button, SIGNAL(clicked()), this, SLOT(identifyAux1Channel()));
    connect(ui->aux2Button, SIGNAL(clicked()), this, SLOT(identifyAux2Channel()));
    connect(ui->persistRcValuesButt,SIGNAL(clicked()), this, SLOT(writeCalibrationRC()));

    //set rc values to defaults
    for (unsigned int i = 0; i < chanMax; i++) {
        rcValue[i] = UINT16_MAX;
        rcValueReversed[i] = UINT16_MAX;
        rcMapping[i] = i;
        rcToFunctionMapping[i] = i;
        channelWantedList[i] = (float)UINT16_MAX;//TODO need to clean these up!
        rcMin[i] = 1000.0f;
        rcMax[i] = 2000.0f;

        // Mapping not established here, so can't pick values via mapping yet!
        rcMappedMin[i] = 1000;
        rcMappedMax[i] = 2000;
        rcMappedValue[i] = UINT16_MAX;
        rcMappedValueRev[i] = UINT16_MAX;
        rcMappedNormalizedValue[i] = 0.0f;
    }

    for (unsigned int i = chanMax -1; i < chanMappedMax; i++) {
        rcMapping[i] = -1;
        rcMappedMin[i] = 1000;
        rcMappedMax[i] = 2000;
        rcMappedValue[i] = UINT16_MAX;
        rcMappedValueRev[i] = UINT16_MAX;
        rcMappedNormalizedValue[i] = 0.0f;
    }

    firmwareMenuButtonClicked();

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

    ui->rcLabel->setText(tr("NO RADIO CONTROL INPUT DETECTED. PLEASE ENSURE THE TRANSMITTER IS ON."));

}

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

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

void QGCPX4VehicleConfig::sensorMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_SENSOR_CAL);
    ui->tabTitleLabel->setText(tr("Sensor Calibration"));
}

void QGCPX4VehicleConfig::generalMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_GENERAL_CONFIG);
    ui->tabTitleLabel->setText(tr("General Configuration Options"));
}

void QGCPX4VehicleConfig::advancedMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_ADV_CONFIG);
    ui->tabTitleLabel->setText(tr("Advanced Configuration Options"));
}

void QGCPX4VehicleConfig::airframeMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_AIRFRAME_CONFIG);
    ui->tabTitleLabel->setText(tr("Airframe Configuration"));
}

void QGCPX4VehicleConfig::firmwareMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_FIRMWARE);
    ui->tabTitleLabel->setText(tr("Firmware Upgrade"));
}

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

    int oldmapping = rcMapping[aert_index];
    channelWanted = aert_index;

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

    msgBox.setText(tr("Detecting %1 ...\t\t").arg(channelNames[channelWanted]));
    msgBox.setInformativeText(tr("Please move stick, switch or potentiometer for this channel all the way up/down or left/right."));
    msgBox.setStandardButtons(QMessageBox::NoButton);
    skipActionButton = msgBox.addButton(tr("Skip"),QMessageBox::RejectRole);
    msgBox.exec();
    skipActionButton->hide();
    msgBox.removeButton(skipActionButton);
    if (msgBox.clickedButton() == skipActionButton ){
        channelWanted = -1;
        rcMapping[aert_index] = oldmapping;
    }
    skipActionButton = NULL;

}

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

void QGCPX4VehicleConfig::toggleSpektrumPairing(bool enabled)
{
    Q_UNUSED(enabled);
    
    if (!ui->dsm2RadioButton->isChecked() && !ui->dsmxRadioButton->isChecked()
            && !ui->dsmx8RadioButton->isChecked()) {
        // Reject
        QMessageBox warnMsgBox;
        warnMsgBox.setText(tr("Please select a Spektrum Protocol Version"));
        warnMsgBox.setInformativeText(tr("Please select either DSM2 or DSM-X\ndirectly below the pair button,\nbased on the receiver type."));
        warnMsgBox.setStandardButtons(QMessageBox::Ok);
        warnMsgBox.setDefaultButton(QMessageBox::Ok);
        (void)warnMsgBox.exec();
        return;
    }

    UASInterface* mav = UASManager::instance()->getActiveUAS();
    if (mav) {
        int rxSubType;
        if (ui->dsm2RadioButton->isChecked())
            rxSubType = 0;
        else if (ui->dsmxRadioButton->isChecked())
            rxSubType = 1;
        else // if (ui->dsmx8RadioButton->isChecked())
            rxSubType = 2;
        mav->pairRX(0, rxSubType);
    }
}

void QGCPX4VehicleConfig::copyAttitudeTrim() {
    if (configEnabled) {

        QMessageBox warnMsgBox;
        warnMsgBox.setText(tr("Attitude trim denied during RC calibration"));
        warnMsgBox.setInformativeText(tr("Please end the RC calibration before doing attitude trim."));
        warnMsgBox.setStandardButtons(QMessageBox::Ok);
        warnMsgBox.setDefaultButton(QMessageBox::Ok);
        (void)warnMsgBox.exec();
    }

    // Not aborted, but warn user

    msgBox.setText(tr("Confirm Attitude Trim"));
    msgBox.setInformativeText(tr("On clicking OK, the current Roll / Pitch / Yaw stick positions will be set as trim values in auto flight. Do NOT reset your trim values after this step."));
    msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);//allow user to cancel upload after reviewing values
    int msgBoxResult = msgBox.exec();
    if (QMessageBox::Cancel == msgBoxResult) {
        return;
        // do not execute
    }

    mav->startRadioControlCalibration(2);
    QGC::SLEEP::msleep(100);
    mav->endRadioControlCalibration();
}

void QGCPX4VehicleConfig::setTrimPositions()
{
    int rollMap = rcMapping[0];
    int pitchMap = rcMapping[1];
    int yawMap = rcMapping[2];
    int throttleMap = rcMapping[3];

    // Reset all trims, as some might not be touched
    for (unsigned i = 0; i < chanCount; i++) {
        rcTrim[i] = 1500;
    }

    bool throttleDone = false;

    while (!throttleDone) {
        // Set trim to min if stick is close to min
        if (abs(rcValue[throttleMap] - rcMin[throttleMap]) < 200) {
            rcTrim[throttleMap] = rcMin[throttleMap];   // throttle
            throttleDone = true;
        }
        // Set trim to max if stick is close to max
        else if (abs(rcValue[throttleMap] - rcMax[throttleMap]) < 200) {
            rcTrim[throttleMap] = rcMax[throttleMap];   // throttle
            throttleDone = true;
        }
        else
        {
            // Reject
            QMessageBox warnMsgBox;
            warnMsgBox.setText(tr("Throttle Stick Trim Position Invalid"));
            warnMsgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the zero throttle position and then click OK."));
            warnMsgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Abort);
            warnMsgBox.setDefaultButton(QMessageBox::Ok);
            if (warnMsgBox.exec() == QMessageBox::Abort) {
                return;
            }
            // wait long enough to get some data
            QGC::SLEEP::msleep(500);
        }
    }

    // Set trim for roll, pitch, yaw, throttle
    rcTrim[rollMap] = rcValue[rollMap]; // roll
    rcTrim[pitchMap] = rcValue[pitchMap]; // pitch
    rcTrim[yawMap] = rcValue[yawMap]; // yaw

    // Mode switch and optional modes, might not be mapped (== -1)
    for (unsigned i = 4; i < chanMappedMax; i++) {
        if (rcMapping[i] >= 0 && rcMapping[i] < (int)chanCount) {
            rcTrim[rcMapping[i]] = ((rcMax[rcMapping[i]] - rcMin[rcMapping[i]]) / 2.0f) + rcMin[rcMapping[i]];
        } else if (rcMapping[i] != -1){
            qDebug() << "RC MAPPING FAILED #" << i << "VAL:" << rcMapping[i];
        }
    }
}

void QGCPX4VehicleConfig::detectChannelInversion(int aert_index)
{
    if (chanCount == 0 || aert_index < 0 || aert_index >= (int)chanMappedMax)
        return;

    bool oldstatus = rcRev[rcMapping[aert_index]];
    channelReverseStateWanted = aert_index;

    // Reset search list
    for (unsigned i = 0; i < chanMax; i++) {
        if (i >= chanCount) {
            channelReverseStateWantedList[i] = 0;
        }
        else {
            channelReverseStateWantedList[i] = rcValue[i];
        }
    }

    QStringList instructions;
    instructions << "ROLL: Move stick left";
    instructions << "PITCH: Move stick down";//matches the other sticks: should cause DECREASE in raw rc channel value when not reversed
    instructions << "YAW: Move stick left";
    instructions << "THROTTLE: Move stick down";
    instructions << "MODE SWITCH: Push down / towards you";
    instructions << "POSITION CONTROL SWITCH: Push down / towards you";
    instructions << "LOITER SWITCH: Push down / towards you";
    instructions << "RETURN SWITCH: Push down / towards you";
    instructions << "FLAPS: Push down / towards you or turn dial to the leftmost position";
    instructions << "AUX1: Push down / towards you or turn dial to the leftmost position";
    instructions << "AUX2: Push down / towards you or turn dial to the leftmost position";

    msgBox.setText(tr("%1 Direction").arg(channelNames[channelReverseStateWanted]));
    msgBox.setInformativeText(tr("%2").arg((aert_index < instructions.length()) ? instructions[aert_index] : ""));
    msgBox.setStandardButtons(QMessageBox::NoButton);
    skipActionButton = msgBox.addButton(tr("Skip"),QMessageBox::RejectRole);
    msgBox.exec();
    skipActionButton->hide();
    msgBox.removeButton(skipActionButton);
    if (msgBox.clickedButton() == skipActionButton ){
        channelReverseStateWanted = -1;
        rcRev[rcMapping[aert_index]] = oldstatus;
    }
    skipActionButton = NULL;
}

void QGCPX4VehicleConfig::startCalibrationRC()
{
    if (chanCount < 5 && !mav) {
        QMessageBox::warning(0,
                             tr("RC not Connected"),
                             tr("Is the RC receiver connected and transmitter turned on? Detected %1 radio channels. To operate PX4, you need at least 5 channels. ").arg(chanCount));
        ui->rcCalibrationButton->setChecked(false);
        return;
    }

    // XXX magic number: Set to 1 for radio input disable
    mav->startRadioControlCalibration(1);

    // reset all channel mappings above Ch 5 to invalid/unused value before starting calibration
    for (unsigned int j= 5; j < chanMappedMax; j++) {
        rcMapping[j] = -1;
    }

    configEnabled = true;

    QMessageBox::warning(0,tr("Safety Warning"),
                         tr("Starting RC calibration.\n\nEnsure RC transmitter and receiver are powered and connected. It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\nReset transmitter trims to center, then click OK to continue"));

    //go ahead and try to map first 8 channels, now that user can skip channels
    for (int i = 0; i < 8; i++) {
        identifyChannelMapping(i);
    }

    //QMessageBox::information(0,"Information","Additional channels have not been mapped, but can be mapped in the channel table below.");
    configEnabled = false;
    ui->rcCalibrationButton->setText(tr("Finish 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();
    ui->radio9Widget->showMinMax();
    ui->radio10Widget->showMinMax();
    ui->radio11Widget->showMinMax();
    ui->radio12Widget->showMinMax();
    ui->radio13Widget->showMinMax();
    ui->radio14Widget->showMinMax();
    ui->radio15Widget->showMinMax();
    ui->radio16Widget->showMinMax();
    ui->radio17Widget->showMinMax();
    ui->radio18Widget->showMinMax();

    msgBox.setText(tr("Information"));
    msgBox.setInformativeText(tr("Please move the sticks to their extreme positions, including all switches. Then click on the OK button once finished"));
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.show();
    msgBox.move((frameGeometry().width() - msgBox.width()) / 4.0f,(frameGeometry().height() - msgBox.height()) / 1.5f);
    int msgBoxResult = msgBox.exec();
    if (QMessageBox::Ok == msgBoxResult) {
        stopCalibrationRC();
    }
}

void QGCPX4VehicleConfig::stopCalibrationRC()
{
    if (!calibrationEnabled)
        return;

    // Check where the throttle is
    while (rcValue[rcMapping[3]] < 1300 || rcValue[rcMapping[3]] > 1700) {
        // Force user to center the throttle
        msgBox.setText(tr("Please center the throttle stick"));
        msgBox.setInformativeText(tr("The stick should be roughly centered - the exact position is not relevant."));
        msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);//allow user to cancel upload after reviewing values
        int msgBoxResult = msgBox.exec();

        if (QMessageBox::Cancel == msgBoxResult) {
            return; // abort
        }
    }

    // Try to identify inverted channels, but only for R/P/Y/T
    for (int i = 0; i < 4; i++) {
        detectChannelInversion(i);
    }

    QMessageBox::information(0,"Trims","Ensure THROTTLE is in the LOW THROTTLE / MOTOR OFF position and roll / pitch / yaw are CENTERED. Click OK to continue");

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

    ui->rollWidget->hideMinMax();
    ui->pitchWidget->hideMinMax();
    ui->yawWidget->hideMinMax();
    ui->throttleWidget->hideMinMax();
    ui->radio5Widget->hideMinMax();
    ui->radio6Widget->hideMinMax();
    ui->radio7Widget->hideMinMax();
    ui->radio8Widget->hideMinMax();
    ui->radio9Widget->hideMinMax();
    ui->radio10Widget->hideMinMax();
    ui->radio11Widget->hideMinMax();
    ui->radio12Widget->hideMinMax();
    ui->radio13Widget->hideMinMax();
    ui->radio14Widget->hideMinMax();
    ui->radio15Widget->hideMinMax();
    ui->radio16Widget->hideMinMax();
    ui->radio17Widget->hideMinMax();
    ui->radio18Widget->hideMinMax();

    for (unsigned 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 = tr("The calibration has been finished. Please click OK to upload it to the autopilot.");
//    statusstr = tr("This is the RC calibration information that will be sent to the autopilot if you click OK. To prevent transmission, click Cancel.");
//    statusstr += tr("  Normal values range from 1000 to 2000, with disconnected channels reading 1000, 1500, 2000\n\n");
//    statusstr += tr("Channel\tMin\tCenter\tMax\n");
//    statusstr += "-------\t---\t------\t---\n";
//    for (unsigned 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";
//    }

    msgBox.setText(tr("Confirm Calibration"));
    msgBox.setInformativeText(statusstr);
    msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);//allow user to cancel upload after reviewing values
    int msgBoxResult = msgBox.exec();

    // Done, exit calibration mode now
    mav->endRadioControlCalibration();

    if (QMessageBox::Cancel == msgBoxResult) {
        return; //don't commit these values
    } else {
        QMessageBox::information(0,"Uploading the RC Calibration","The configuration will now be uploaded and permanently stored.");
        writeCalibrationRC();
    }

    // Read calibration back to update widget states and validate
    paramMgr->requestParameterList();
}

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;
            }
        }
    }


     //TODO fix and reintegrate the Advanced parameter editor
//    // 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(this);
        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(this);
        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;
                }
            }
        }
    }
}
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)
                                    {