diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index a9e8a18421da3e1e6e027dea4c5917f3c2b626f2..9cb17a35068bf2910820ef0fec0d4dd0be55a442 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -272,7 +272,6 @@ FORMS += \
src/ui/AudioOutputWidget.ui \
src/ui/QGCSensorSettingsWidget.ui \
src/ui/QGCDataPlot2D.ui \
- src/ui/QGCRemoteControlView.ui \
src/ui/QMap3D.ui \
src/ui/QGCWebView.ui \
src/ui/map3D/QGCGoogleEarthView.ui \
@@ -290,7 +289,6 @@ FORMS += \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCTCPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui \
- src/ui/UASControlParameters.ui \
src/ui/map/QGCMapTool.ui \
src/ui/map/QGCMapToolBar.ui \
src/ui/QGCMAVLinkInspector.ui \
@@ -317,7 +315,6 @@ FORMS += \
src/ui/QGCHilXPlaneConfiguration.ui \
src/ui/uas/UASQuickView.ui \
src/ui/uas/UASQuickViewItemSelect.ui \
- src/ui/uas/UASActionsWidget.ui \
src/ui/QGCTabbedInfoView.ui \
src/ui/UASRawStatusView.ui \
src/ui/uas/QGCMessageView.ui \
@@ -383,13 +380,6 @@ HEADERS += \
src/QGC.h \
src/ui/QGCDataPlot2D.h \
src/ui/linechart/IncrementalPlot.h \
- src/ui/QGCRemoteControlView.h \
- src/ui/RadioCalibration/RadioCalibrationData.h \
- src/ui/RadioCalibration/RadioCalibrationWindow.h \
- src/ui/RadioCalibration/AirfoilServoCalibrator.h \
- src/ui/RadioCalibration/SwitchCalibrator.h \
- src/ui/RadioCalibration/CurveCalibrator.h \
- src/ui/RadioCalibration/AbstractCalibrator.h \
src/comm/QGCMAVLink.h \
src/ui/QGCWebView.h \
src/ui/map3D/QGCWebPage.h \
@@ -414,7 +404,6 @@ HEADERS += \
src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCTCPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h \
- src/ui/uas/UASControlParameters.h \
src/uas/QGCUASParamManager.h \
src/ui/map/QGCMapWidget.h \
src/ui/map/MAV2DIcon.h \
@@ -456,7 +445,6 @@ HEADERS += \
src/ui/uas/UASQuickViewItemSelect.h \
src/ui/uas/UASQuickViewTextItem.h \
src/ui/uas/UASQuickViewGaugeItem.h \
- src/ui/uas/UASActionsWidget.h \
src/ui/QGCTabbedInfoView.h \
src/ui/UASRawStatusView.h \
src/ui/PrimaryFlightDisplay.h \
@@ -535,13 +523,6 @@ SOURCES += \
src/QGC.cc \
src/ui/QGCDataPlot2D.cc \
src/ui/linechart/IncrementalPlot.cc \
- src/ui/QGCRemoteControlView.cc \
- src/ui/RadioCalibration/RadioCalibrationWindow.cc \
- src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
- src/ui/RadioCalibration/SwitchCalibrator.cc \
- src/ui/RadioCalibration/CurveCalibrator.cc \
- src/ui/RadioCalibration/AbstractCalibrator.cc \
- src/ui/RadioCalibration/RadioCalibrationData.cc \
src/ui/QGCWebView.cc \
src/ui/map3D/QGCWebPage.cc \
src/ui/QGCMainWindowAPConfigurator.cc \
@@ -565,7 +546,6 @@ SOURCES += \
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCTCPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc \
- src/ui/uas/UASControlParameters.cpp \
src/uas/QGCUASParamManager.cc \
src/ui/map/QGCMapWidget.cc \
src/ui/map/MAV2DIcon.cc \
@@ -605,7 +585,6 @@ SOURCES += \
src/ui/uas/UASQuickViewTextItem.cc \
src/ui/uas/UASQuickViewGaugeItem.cc \
src/ui/uas/UASQuickViewItemSelect.cc \
- src/ui/uas/UASActionsWidget.cpp \
src/ui/QGCTabbedInfoView.cpp \
src/ui/UASRawStatusView.cpp \
src/ui/PrimaryFlightDisplay.cc \
diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc
index 3f19abcd044831833539c25c1df57caf968b233b..f9fb2940d534a65975768f5c2af62fc9d22a537a 100644
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
@@ -3,6 +3,7 @@
#include <QApplication>
#include <QDir>
#include <QMessageBox>
+#include <QDebug>
#include "UASInterface.h"
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index e15b98949a491993a48fa600f7e4ec1fb4631415..2d7beb74a0616f20e401a351b526a04d5d5a8a09 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -43,7 +43,6 @@ This file is part of the QGROUNDCONTROL project
#include "UASParameterDataModel.h"
#include "UASWaypointManager.h"
#include "QGCUASParamManagerInterface.h"
-#include "RadioCalibration/RadioCalibrationData.h"
class QGCUASFileManager;
@@ -584,8 +583,6 @@ signals:
void remoteControlChannelScaledChanged(int channelId, float normalized);
/** @brief Remote control RSSI changed */
void remoteControlRSSIChanged(float rssi);
- /** @brief Radio Calibration Data has been received from the MAV*/
- void radioCalibrationReceived(const QPointer<RadioCalibrationData>&);
/**
* @brief Localization quality changed
diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index 627a01f4f99d436ee43e4597f8c927ea2aae0138..137c2385600f9ef94b995f11c60462baf302b8ae 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -1,6 +1,7 @@
#include "UASParameterCommsMgr.h"
#include <QSettings>
+#include <QDebug>
#include "QGCUASParamManagerInterface.h"
#include "UASInterface.h"
diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc
index 3ce913a1b841693bba52dcc758df8a7f72692a62..6fc661383adb94acfcc61b16621986a13660a2c8 100644
--- a/src/ui/MAVLinkDecoder.cc
+++ b/src/ui/MAVLinkDecoder.cc
@@ -1,6 +1,8 @@
#include "MAVLinkDecoder.h"
#include "UASManager.h"
+#include <QDebug>
+
MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
QThread()
{
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index e5f87c531107640231003be92bae2c08757769fa..eaa49e7025416d0fc86d7d10fbc4a81ed9404808 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -62,7 +62,6 @@ This file is part of the QGROUNDCONTROL project
#include "UASQuickView.h"
#include "QGCDataPlot2D.h"
#include "Linecharts.h"
-#include "UASActionsWidget.h"
#include "QGCTabbedInfoView.h"
#include "UASRawStatusView.h"
#include "PrimaryFlightDisplay.h"
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index 7de1a1110e8eec0ab7396419ecb2d8a064e7375e..6781e8fbe739745d2672538c4628595c7140b90f 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -57,7 +57,6 @@ This file is part of the QGROUNDCONTROL project
#include "ParameterInterface.h"
#include "HDDisplay.h"
#include "HSIDisplay.h"
-#include "QGCRemoteControlView.h"
#include "opmapcontrol.h"
#ifdef QGC_GOOGLE_EARTH_ENABLED
#include "QGCGoogleEarthView.h"
@@ -65,11 +64,11 @@ This file is part of the QGROUNDCONTROL project
#include "QGCToolBar.h"
#include "LogCompressor.h"
-#include "UASControlParameters.h"
#include "QGCMAVLinkInspector.h"
#include "QGCMAVLinkLogPlayer.h"
#include "MAVLinkDecoder.h"
#include "QGCUASFileViewMulti.h"
+#include "QGCFlightGearLink.h"
class QGCMapTool;
class QGCMAVLinkMessageSender;
diff --git a/src/ui/QGCRemoteControlView.cc b/src/ui/QGCRemoteControlView.cc
deleted file mode 100644
index 1825a4dc6b5a79bfcf6b393404d8389c36b63bb8..0000000000000000000000000000000000000000
--- a/src/ui/QGCRemoteControlView.cc
+++ /dev/null
@@ -1,231 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- * @brief Implementation of QGCRemoteControlView
- * @author Lorenz Meier <mail@qgroundcontrol.org>
- * @author Bryan Godbolt <godbolt@ece.ualberta.ca>
- */
-
-#include <QGridLayout>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QPushButton>
-#include <QLabel>
-#include <QProgressBar>
-#include "QGCRemoteControlView.h"
-#include "ui_QGCRemoteControlView.h"
-#include "UASManager.h"
-
-QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
- QWidget(parent),
- uasId(-1),
- rssi(0.0f),
- updated(false),
- channelLayout(new QVBoxLayout()),
- ui(NULL)
-{
- ui->setupUi(this);
- QGridLayout* layout = new QGridLayout(this);
- layout->addLayout(channelLayout, 1, 0, 1, 2);
- nameLabel = new QLabel(this);
- layout->addWidget(nameLabel, 0, 0, 1, 2);
-
- this->setVisible(false);
- //setVisible(false);
-
-// calibrate = new QPushButton(tr("Calibrate"), this);
-// QHBoxLayout *calibrateButtonLayout = new QHBoxLayout();
-// calibrateButtonLayout->addWidget(calibrate, 0, Qt::AlignHCenter);
-// layout->addItem(calibrateButtonLayout, 3, 0, 1, 2);
-
-// calibrationWindow = new RadioCalibrationWindow(this);
-// connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show()));
-
- connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(setUASId(int)));
-
- connect(&updateTimer, SIGNAL(timeout()), this, SLOT(redraw()));
- updateTimer.start(1500);
-}
-
-QGCRemoteControlView::~QGCRemoteControlView()
-{
- if(this->ui)
- {
- delete ui;
- }
- if(this->channelLayout)
- {
- delete channelLayout;
- }
-}
-
-void QGCRemoteControlView::setUASId(int id)
-{
- if (uasId != -1)
- {
- UASInterface* uas = UASManager::instance()->getUASForId(uasId);
- if (uas)
- {
- // The UAS exists, disconnect any existing connections
- disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
- disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
- //disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
- //disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
- disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
- }
- }
-
- // Clear channel count
- raw.clear();
- raw.resize(0);
- normalized.clear();
- normalized.resize(0);
-
- foreach (QLabel* label, rawLabels)
- {
- label->deleteLater();
- }
-
- foreach(QProgressBar* bar, progressBars)
- {
- bar->deleteLater();
- }
-
- rawLabels.clear();
- rawLabels.resize(0);
- progressBars.clear();
- progressBars.resize(0);
-
- // Connect the new UAS
- UASInterface* newUAS = UASManager::instance()->getUASForId(id);
- if (newUAS)
- {
- // New UAS exists, connect
- nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
- //calibrationWindow->setUASId(id);
- //connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
-
- connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
- connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float)));
- connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
-
- // only connect raw channels to calibration window widget
- //connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
- }
-}
-
-void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
-{
-
- if (this->raw.count() <= channelId) {
- // This is a new channel, append it
- this->raw.append(raw);
- appendChannelWidget(channelId);
- updated = true;
- } else {
- // This is an existing channel, aupdate it
- if (this->raw[channelId] != raw) updated = true;
- this->raw[channelId] = raw;
- }
-}
-
-void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
-{
- if (this->normalized.count() <= channelId) // using raw vector as size indicator
- {
- // This is a new channel, append it
- this->normalized.append(normalized);
- appendChannelWidget(channelId);
- updated = true;
- }
- else
- {
- // This is an existing channel, update it
- if (this->normalized[channelId] != normalized) updated = true;
- this->normalized[channelId] = normalized;
- }
-}
-
-void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized)
-{
- if (rssi != rssiNormalized) updated = true;
- rssi = rssiNormalized;
-}
-
-void QGCRemoteControlView::appendChannelWidget(int channelId)
-{
- // Create new layout
- QHBoxLayout* layout = new QHBoxLayout();
- // Add content
- layout->addWidget(new QLabel(QString("Channel %1").arg(channelId + 1), this));
- QLabel* raw = new QLabel(this);
-
- // Append raw label
- rawLabels.append(raw);
- layout->addWidget(raw);
- // Append progress bar
- QProgressBar* normalized = new QProgressBar(this);
- normalized->setMinimum(-100);
- normalized->setMaximum(100);
- normalized->setFormat("%v%");
- progressBars.append(normalized);
- layout->addWidget(normalized);
- channelLayout->addLayout(layout);
-}
-
-void QGCRemoteControlView::redraw()
-{
- if(isVisible() && updated)
- {
- // Update percent bars and raw labels
- for(int i = 0; (i < progressBars.count()) && (i < rawLabels.count()) && (i < normalized.count()) && (i < raw.count()); i++)
- {
- rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
- int vv = normalized.at(i)*100.0f;
- progressBars.at(i)->setValue(vv);
- }
- // Update RSSI
- if(rssi>0) {
- //rssiBar->setValue(rssi);//*100);
- }
-
- updated = false;
- }
-}
-
-void QGCRemoteControlView::changeEvent(QEvent *e)
-{
- Q_UNUSED(e);
- // FIXME If the lines below are commented in
- // runtime errors can occur on x64 systems.
-// QWidget::changeEvent(e);
-// switch (e->type()) {
-// case QEvent::LanguageChange:
-// //ui->retranslateUi(this);
-// break;
-// default:
-// break;
-// }
-}
diff --git a/src/ui/QGCRemoteControlView.h b/src/ui/QGCRemoteControlView.h
deleted file mode 100644
index 49b501a18952e992556581425eefae87be4b380a..0000000000000000000000000000000000000000
--- a/src/ui/QGCRemoteControlView.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- * @brief Declaration of QGCRemoteControlView
- * @author Lorenz Meier <mail@qgroundcontrol.org>
- */
-
-#ifndef QGCREMOTECONTROLVIEW_H
-#define QGCREMOTECONTROLVIEW_H
-
-#include <QWidget>
-#include <QVector>
-#include <QPushButton>
-
-#include "RadioCalibration/RadioCalibrationWindow.h"
-
-namespace Ui
-{
-class QGCRemoteControlView;
-}
-
-class QVBoxLayout;
-class QLabel;
-class QProgressBar;
-
-class QGCRemoteControlView : public QWidget
-{
- Q_OBJECT
-public:
- QGCRemoteControlView(QWidget *parent = 0);
- ~QGCRemoteControlView();
-
-public slots:
- void setUASId(int id);
- void setChannelRaw(int channelId, float raw);
- void setChannelScaled(int channelId, float normalized);
- void setRemoteRSSI(float rssiNormalized);
- void redraw();
-
-protected slots:
- void appendChannelWidget(int channelId);
-
-protected:
- void changeEvent(QEvent *e);
- int uasId;
- float rssi;
- bool updated;
- QVBoxLayout* channelLayout;
- QVector<int> raw;
- QVector<float> normalized;
- QVector<QLabel*> rawLabels;
- QVector<QProgressBar*> progressBars;
- QProgressBar* rssiBar;
- QLabel* nameLabel;
- QPushButton *calibrate;
- RadioCalibrationWindow *calibrationWindow;
- QTimer updateTimer;
-
-private:
- Ui::QGCRemoteControlView *ui;
-};
-
-#endif // QGCREMOTECONTROLVIEW_H
diff --git a/src/ui/QGCRemoteControlView.ui b/src/ui/QGCRemoteControlView.ui
deleted file mode 100644
index 9d863cfa57d71e5230c8cde7b56e71003d9d2046..0000000000000000000000000000000000000000
--- a/src/ui/QGCRemoteControlView.ui
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCRemoteControlView</class>
- <widget class="QWidget" name="QGCRemoteControlView">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>155</width>
- <height>106</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>Form</string>
- </property>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/src/ui/QGCStatusBar.cc b/src/ui/QGCStatusBar.cc
index 9f771b53d44015e0ccc3747cc729bdfaa32caf48..9c8f2d638467b470d8219a628ac696c3a313e50b 100644
--- a/src/ui/QGCStatusBar.cc
+++ b/src/ui/QGCStatusBar.cc
@@ -24,6 +24,8 @@ This file is part of the QGROUNDCONTROL project
#include <QToolButton>
#include <QLabel>
#include <QSpacerItem>
+#include <QFileDialog>
+
#include "QGCStatusBar.h"
#include "UASManager.h"
#include "MainWindow.h"
diff --git a/src/ui/QGCTabbedInfoView.h b/src/ui/QGCTabbedInfoView.h
index b8ba5faa144572dab68ae4c26afc53713c1c605f..4431c95279220c85406e543d63e9ef88f758b810 100644
--- a/src/ui/QGCTabbedInfoView.h
+++ b/src/ui/QGCTabbedInfoView.h
@@ -5,7 +5,6 @@
#include "ui_QGCTabbedInfoView.h"
#include "MAVLinkDecoder.h"
#include "QGCMessageView.h"
-#include "UASActionsWidget.h"
#include "UASQuickView.h"
#include "UASRawStatusView.h"
class QGCTabbedInfoView : public QWidget
@@ -20,7 +19,6 @@ private:
MAVLinkDecoder *m_decoder;
Ui::QGCTabbedInfoView ui;
QGCMessageView *messageView;
- UASActionsWidget *actionsWidget;
UASQuickView *quickView;
UASRawStatusView *rawView;
};
diff --git a/src/ui/QGCUASFileView.cc b/src/ui/QGCUASFileView.cc
index 536f1ca6a37b24acde448533c10e3cbc91ad825c..ba718e14070cbf4437506c6b24667363779ef042 100644
--- a/src/ui/QGCUASFileView.cc
+++ b/src/ui/QGCUASFileView.cc
@@ -28,6 +28,7 @@
#include <QFileDialog>
#include <QDir>
#include <QMessageBox>
+#include <QDebug>
QGCUASFileView::QGCUASFileView(QWidget *parent, QGCUASFileManager *manager) :
QWidget(parent),
diff --git a/src/ui/RadioCalibration/AbstractCalibrator.cc b/src/ui/RadioCalibration/AbstractCalibrator.cc
deleted file mode 100644
index 2ab73111b0c28c183ae18aa1e7d8bbd8ae458fa2..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/AbstractCalibrator.cc
+++ /dev/null
@@ -1,68 +0,0 @@
-#include "AbstractCalibrator.h"
-
-AbstractCalibrator::AbstractCalibrator(QWidget *parent) :
- QWidget(parent),
- pulseWidth(new QLabel()),
- log(new QVector<uint16_t>())
-{
-}
-
-AbstractCalibrator::~AbstractCalibrator()
-{
- delete log;
-}
-
-uint16_t AbstractCalibrator::logAverage()
-{
- // Short-circuit here if the log is empty otherwise we get a div-by-0 error.
- if (log->empty())
- {
- return 0;
- }
-
- uint16_t total = 0;
- for (int i=0; i<log->size(); ++i)
- {
- total += log->value(i);
- }
- return total/log->size();
-}
-
-uint16_t AbstractCalibrator::logExtrema()
-{
- uint16_t extrema = logAverage();
- if (logAverage() < 1500)
- {
- for (int i=0; i<log->size(); ++i)
- {
- if (log->value(i) < extrema)
- {
- extrema = log->value(i);
- }
- }
- extrema -= 5; // add 5us to prevent integer overflow
- }
- else
- {
- for (int i=0; i<log->size(); ++i)
- {
- if (log->value(i) > extrema)
- {
- extrema = log->value(i);
- }
- }
- extrema += 5; // subtact 5us to prevent integer overflow
- }
-
- return extrema;
-}
-
-void AbstractCalibrator::channelChanged(uint16_t raw)
-{
- pulseWidth->setText(QString::number(raw));
- if (log->size() == 5)
- {
- log->pop_front();
- }
- log->push_back(raw);
-}
diff --git a/src/ui/RadioCalibration/AbstractCalibrator.h b/src/ui/RadioCalibration/AbstractCalibrator.h
deleted file mode 100644
index 70ff632915fa45a8ff0f6e3cd95a35830fe9864a..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/AbstractCalibrator.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- * @brief Common aspects of radio calibration widgets
- * @author Bryan Godbolt <godbolt@ualberta.ca>
- */
-
-#ifndef ABSTRACTCALIBRATOR_H
-#define ABSTRACTCALIBRATOR_H
-
-#include <QWidget>
-#include <QString>
-#include <QLabel>
-#include <QVector>
-
-#include <math.h>
-#include <stdint.h>
-
-/**
- @brief Holds the code which is common to all the radio calibration widgets.
-
- @author Bryan Godbolt <godbolt@ece.ualberta.ca>
- */
-class AbstractCalibrator : public QWidget
-{
- Q_OBJECT
-public:
- explicit AbstractCalibrator(QWidget *parent = 0);
- ~AbstractCalibrator();
-
- /** Change the setpoints of the widget. Used when
- changing the display from an external source (file/uav).
- @param data QVector of setpoints
- */
- virtual void set(const QVector<uint16_t>& data)=0;
-signals:
- /** Announce a setpoint change.
- @param index setpoint number - 0 based in the current implementation
- @param value new value
- */
- void setpointChanged(int index, uint16_t value);
-
-public slots:
- /** Slot to call when the relevant channel is updated
- @param raw current channel value
- */
- void channelChanged(uint16_t raw);
-
-protected:
- /** Display the current pulse width */
- QLabel *pulseWidth;
-
- /** Log of the past few samples for use in averaging and finding extrema */
- QVector<uint16_t> *log;
- /** Find the maximum or minimum of the data log */
- uint16_t logExtrema();
- /** Find the average of the log */
- uint16_t logAverage();
-};
-
-#endif // ABSTRACTCALIBRATOR_H
diff --git a/src/ui/RadioCalibration/AirfoilServoCalibrator.cc b/src/ui/RadioCalibration/AirfoilServoCalibrator.cc
deleted file mode 100644
index dc7faf28ce3dd4914dcb16cf53ec8b1d9e78d191..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/AirfoilServoCalibrator.cc
+++ /dev/null
@@ -1,104 +0,0 @@
-#include "AirfoilServoCalibrator.h"
-
-AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent) :
- AbstractCalibrator(parent),
- highPulseWidth(new QLabel()),
- centerPulseWidth(new QLabel()),
- lowPulseWidth(new QLabel())
-{
- QGridLayout *grid = new QGridLayout(this);
-
- /* Add title */
- QHBoxLayout *titleLayout = new QHBoxLayout();
- QLabel* title;
- if (type == AILERON) {
- title = new QLabel(tr("Aileron"));
- } else if (type == ELEVATOR) {
- title = new QLabel(tr("Elevator"));
- } else if (type == RUDDER) {
- title = new QLabel(tr("Rudder"));
- } else {
- title = new QLabel(tr("Unknown"));
- }
-
- titleLayout->addWidget(title);
- grid->addLayout(titleLayout, 0, 0, 1, 3, Qt::AlignHCenter);
-
- /* Add current Pulse Width Display */
- QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
- QHBoxLayout *pulseLayout = new QHBoxLayout();
- pulseLayout->addWidget(pulseWidthTitle);
- pulseLayout->addWidget(pulseWidth);
- grid->addLayout(pulseLayout, 1, 0, 1, 3);
-
- QLabel *highPulseString;
- QLabel *centerPulseString;
- QLabel *lowPulseString;
- if (type == AILERON) {
- highPulseString = new QLabel(tr("Bank Right"));
- centerPulseString = new QLabel(tr("Center"));
- lowPulseString = new QLabel(tr("Bank Left"));
- } else if (type == ELEVATOR) {
- highPulseString = new QLabel(tr("Nose Up"));
- centerPulseString = new QLabel(tr("Center"));
- lowPulseString = new QLabel(tr("Nose Down"));
- } else if (type == RUDDER) {
- highPulseString = new QLabel(tr("Nose Right"));
- centerPulseString = new QLabel(tr("Center"));
- lowPulseString = new QLabel(tr("Nose Left"));
- } else {
- highPulseString = new QLabel(tr("High"));
- centerPulseString = new QLabel(tr("Center"));
- lowPulseString = new QLabel(tr("Low"));
- }
-
-
- QPushButton *highButton = new QPushButton(tr("Set"));
- QPushButton *centerButton = new QPushButton(tr("Set"));
- QPushButton *lowButton = new QPushButton(tr("Set"));
-
- grid->addWidget(highPulseString, 2, 0);
- grid->addWidget(highPulseWidth, 2, 1);
- grid->addWidget(highButton, 2, 2);
-
- grid->addWidget(centerPulseString, 3, 0);
- grid->addWidget(centerPulseWidth, 3, 1);
- grid->addWidget(centerButton, 3, 2);
-
- grid->addWidget(lowPulseString, 4, 0);
- grid->addWidget(lowPulseWidth, 4, 1);
- grid->addWidget(lowButton, 4, 2);
-
- this->setLayout(grid);
-
- connect(highButton, SIGNAL(clicked()), this, SLOT(setHigh()));
- connect(centerButton, SIGNAL(clicked()), this, SLOT(setCenter()));
- connect(lowButton, SIGNAL(clicked()), this, SLOT(setLow()));
-}
-
-void AirfoilServoCalibrator::setHigh()
-{
- highPulseWidth->setText(QString::number(logExtrema()));
- emit setpointChanged(2, logExtrema());
-}
-
-void AirfoilServoCalibrator::setCenter()
-{
- centerPulseWidth->setText(QString::number(logAverage()));
- emit setpointChanged(1, logAverage());
-}
-
-void AirfoilServoCalibrator::setLow()
-{
- lowPulseWidth->setText(QString::number(logExtrema()));
- emit setpointChanged(0, logExtrema());
-}
-
-void AirfoilServoCalibrator::set(const QVector<uint16_t> &data)
-{
- if (data.size() == 3) {
- lowPulseWidth->setText(QString::number(data[0]));
- centerPulseWidth->setText(QString::number(data[1]));
- highPulseWidth->setText(QString::number(data[2]));
- }
-}
diff --git a/src/ui/RadioCalibration/AirfoilServoCalibrator.h b/src/ui/RadioCalibration/AirfoilServoCalibrator.h
deleted file mode 100644
index 4775c939a824ee3d5275f79fe31eb4ab866e346a..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/AirfoilServoCalibrator.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- * @brief Calibration widget for 3 point airfoil servo
- * @author Bryan Godbolt <godbolt@ualberta.ca>
- */
-
-#ifndef AIRFOILSERVOCALIBRATOR_H
-#define AIRFOILSERVOCALIBRATOR_H
-
-#include <QWidget>
-#include <QLabel>
-#include <QPushButton>
-#include <QVector>
-#include <QGridLayout>
-#include <QHBoxLayout>
-
-#include "AbstractCalibrator.h"
-
-/**
- @brief Calibration widget three setpoint control input.
- For the helicopter autopilot at UAlberta this is used for Aileron, Elevator, and Rudder channels.
-
- @author Bryan Godbolt <godbolt@ece.ualberta.ca>
- */
-class AirfoilServoCalibrator : public AbstractCalibrator
-{
- Q_OBJECT
-public:
- enum AirfoilType {
- AILERON,
- ELEVATOR,
- RUDDER
- };
-
- explicit AirfoilServoCalibrator(AirfoilType type = AILERON, QWidget *parent = 0);
-
- /** @param data must have exaclty 3 elemets. they are assumed to be low center high */
- void set(const QVector<uint16_t>& data);
-
-protected slots:
- void setHigh();
- void setCenter();
- void setLow();
-
-protected:
- QLabel *highPulseWidth;
- QLabel *centerPulseWidth;
- QLabel *lowPulseWidth;
-};
-
-#endif // AIRFOILSERVOCALIBRATOR_H
diff --git a/src/ui/RadioCalibration/CurveCalibrator.cc b/src/ui/RadioCalibration/CurveCalibrator.cc
deleted file mode 100644
index 5fb3d2456b747f8d3495c0fc0ec422d8afa6071a..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/CurveCalibrator.cc
+++ /dev/null
@@ -1,126 +0,0 @@
-#include "CurveCalibrator.h"
-
-CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
- AbstractCalibrator(parent),
- setpoints(new QVector<uint16_t>(5)),
- positions(new QVector<uint16_t>())
-{
- QGridLayout *grid = new QGridLayout(this);
- QLabel *title = new QLabel(titleString);
- grid->addWidget(title, 0, 0, 1, 5, Qt::AlignHCenter);
-
- QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
- pulseWidth = new QLabel();
- QHBoxLayout *pulseLayout = new QHBoxLayout();
- pulseLayout->addWidget(pulseWidthTitle);
- pulseLayout->addWidget(pulseWidth);
- grid->addLayout(pulseLayout, 1, 0, 1, 5, Qt::AlignHCenter);
-
- for (int i=0; i<=100; i=i+100/4)
- positions->append(static_cast<double>(i));
-
-
- setpoints->fill(1500);
-
- plot = new QwtPlot();
-
- grid->addWidget(plot, 2, 0, 1, 5, Qt::AlignHCenter);
-
-
- plot->setAxisScale(QwtPlot::yLeft, 1000, 2000, 200);
- plot->setAxisScale(QwtPlot::xBottom, 0, 100, 25);
-
- curve = new QwtPlotCurve();
- curve->setPen(QPen(QColor(QString("lime"))));
-
- QVector<double> pos(positions->size());
- QVector<double> set(setpoints->size());
-
- for (int i=0; i<positions->size()&&i<setpoints->size(); i++)
- {
- pos[i] = static_cast<double>((*positions)[i]);
- set[i] = static_cast<double>((*setpoints)[i]);
- }
-
- curve->setSamples(pos, set);
- curve->attach(plot);
-
- plot->replot();
-
- QPushButton *zero = new QPushButton(tr("0 %"));
- QPushButton *twentyfive = new QPushButton(tr("25 %"));
- QPushButton *fifty = new QPushButton(tr("50 %"));
- QPushButton *seventyfive = new QPushButton(tr("75 %"));
- QPushButton *hundred = new QPushButton(tr("100 %"));
-
- grid->addWidget(zero, 3, 0);
- grid->addWidget(twentyfive, 3, 1);
- grid->addWidget(fifty, 3, 2);
- grid->addWidget(seventyfive, 3, 3);
- grid->addWidget(hundred, 3, 4);
-
- this->setLayout(grid);
-
- signalMapper = new QSignalMapper(this);
- signalMapper->setMapping(zero, 0);
- signalMapper->setMapping(twentyfive, 1);
- signalMapper->setMapping(fifty, 2);
- signalMapper->setMapping(seventyfive, 3);
- signalMapper->setMapping(hundred, 4);
-
- connect(zero, SIGNAL(clicked()), signalMapper, SLOT(map()));
- connect(twentyfive, SIGNAL(clicked()), signalMapper, SLOT(map()));
- connect(fifty, SIGNAL(clicked()), signalMapper, SLOT(map()));
- connect(seventyfive, SIGNAL(clicked()), signalMapper, SLOT(map()));
- connect(hundred, SIGNAL(clicked()), signalMapper, SLOT(map()));
- connect(signalMapper, SIGNAL(mapped(int)), this, SLOT(setSetpoint(int)));
-}
-
-CurveCalibrator::~CurveCalibrator()
-{
- delete setpoints;
- delete positions;
-}
-
-void CurveCalibrator::setSetpoint(int setpoint)
-{
- if (setpoint == 0 || setpoint == 4) {
- setpoints->replace(setpoint,logExtrema());
- } else {
- setpoints->replace(setpoint, logAverage());
- }
-
- QVector<double> pos(positions->size());
- QVector<double> set(setpoints->size());
-
- for (int i=0; i<positions->size()&&i<setpoints->size(); i++)
- {
- pos[i] = static_cast<double>((*positions)[i]);
- set[i] = static_cast<double>((*setpoints)[i]);
- }
-
- curve->setSamples(pos, set);
- plot->replot();
-
- emit setpointChanged(setpoint, setpoints->value(setpoint));
-}
-
-void CurveCalibrator::set(const QVector<uint16_t> &data)
-{
- if (data.size() == 5) {
- for (int i=0; i<data.size(); ++i)
- setpoints->replace(i, data[i]);
- QVector<double> pos(positions->size());
- QVector<double> set(setpoints->size());
-
- for (int i=0; i<positions->size()&&i<setpoints->size(); i++)
- {
- pos[i] = static_cast<double>((*positions)[i]);
- set[i] = static_cast<double>((*setpoints)[i]);
- }
- curve->setSamples(pos, set);
- plot->replot();
- } else {
- qDebug() << __FILE__ << __LINE__ << ": wrong data vector size";
- }
-}
diff --git a/src/ui/RadioCalibration/CurveCalibrator.h b/src/ui/RadioCalibration/CurveCalibrator.h
deleted file mode 100644
index 9a4dec9220ab5230415a8235a6f7947caca1ae75..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/CurveCalibrator.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- * @brief Calibration widget for 5 point inerpolated curve
- * @author Bryan Godbolt <godbolt@ualberta.ca>
- */
-
-#ifndef CURVECALIBRATOR_H
-#define CURVECALIBRATOR_H
-
-#include <QWidget>
-#include <QVector>
-#include <qwt_plot.h>
-#include <qwt_plot_curve.h>
-#include <QGridLayout>
-#include <QHBoxLayout>
-#include <QLabel>
-#include <QPushButton>
-#include <QPen>
-#include <QColor>
-#include <QString>
-#include <QSignalMapper>
-#include <QDebug>
-
-#include "AbstractCalibrator.h"
-
-/**
- @brief Calibration widget for 5 point inerpolated curve.
- For the helicopter autopilot at UAlberta this is used for the throttle and pitch curves.
- */
-class CurveCalibrator : public AbstractCalibrator
-{
- Q_OBJECT
-public:
- explicit CurveCalibrator(QString title = QString(), QWidget *parent = 0);
- ~CurveCalibrator();
-
- void set(const QVector<uint16_t> &data);
-
-protected slots:
- void setSetpoint(int setpoint);
-
-protected:
- QVector<uint16_t> *setpoints;
- QVector<uint16_t> *positions;
- /** Plot to display calibration curve */
- QwtPlot *plot;
- /** Curve object of calibration curve */
- QwtPlotCurve *curve;
-
- QSignalMapper *signalMapper;
-};
-
-#endif // CURVECALIBRATOR_H
diff --git a/src/ui/RadioCalibration/RadioCalibrationData.cc b/src/ui/RadioCalibration/RadioCalibrationData.cc
deleted file mode 100644
index 30933158a0662e7d62eff5e7a3f7a9e71f805852..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/RadioCalibrationData.cc
+++ /dev/null
@@ -1,66 +0,0 @@
-#include "RadioCalibrationData.h"
-
-RadioCalibrationData::RadioCalibrationData()
-{
- data = new QVector<QVector<uint16_t> >(6);
- (*data).insert(AILERON, QVector<uint16_t>(3));
- (*data).insert(ELEVATOR, QVector<uint16_t>(3));
- (*data).insert(RUDDER, QVector<uint16_t>(3));
- (*data).insert(GYRO, QVector<uint16_t>(2));
- (*data).insert(PITCH, QVector<uint16_t>(5));
- (*data).insert(THROTTLE, QVector<uint16_t>(5));
-}
-
-RadioCalibrationData::RadioCalibrationData(const QVector<uint16_t> &aileron,
- const QVector<uint16_t> &elevator,
- const QVector<uint16_t> &rudder,
- const QVector<uint16_t> &gyro,
- const QVector<uint16_t> &pitch,
- const QVector<uint16_t> &throttle)
-{
- data = new QVector<QVector<uint16_t> >();
- (*data) << aileron
- << elevator
- << rudder
- << gyro
- << pitch
- << throttle;
-}
-
-RadioCalibrationData::RadioCalibrationData(const RadioCalibrationData &other)
- :QObject()
-{
- data = new QVector<QVector<uint16_t> >(*other.data);
-}
-
-RadioCalibrationData::~RadioCalibrationData()
-{
- delete data;
-}
-
-const uint16_t* RadioCalibrationData::operator [](int i) const
-{
- if (i < data->size()) {
- return (*data)[i].constData();
- }
-
- return NULL;
-}
-
-const QVector<uint16_t>& RadioCalibrationData::operator ()(const int i) const throw(std::out_of_range)
-{
- if ((i < data->size()) && (i >=0)) {
- return (*data)[i];
- }
-
- throw std::out_of_range("Invalid channel index");
-}
-
-QString RadioCalibrationData::toString(RadioElement element) const
-{
- QString s;
- foreach (float f, (*data)[element]) {
- s += QString::number(f) + ", ";
- }
- return s.mid(0, s.length()-2);
-}
diff --git a/src/ui/RadioCalibration/RadioCalibrationData.h b/src/ui/RadioCalibration/RadioCalibrationData.h
deleted file mode 100644
index 89e1f3b05c4c11f6757280d8c593f4249597a6e1..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/RadioCalibrationData.h
+++ /dev/null
@@ -1,116 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- * @brief Class to hold the calibration data
- * @author Bryan Godbolt <godbolt@ualberta.ca>
- */
-
-#ifndef RADIOCALIBRATIONDATA_H
-#define RADIOCALIBRATIONDATA_H
-
-#include <QObject>
-#include <QDebug>
-#include <QVector>
-#include <QString>
-#include <stdexcept>
-
-#include <stdint.h>
-
-
-/**
- @brief Class to hold the calibration data.
- @author Bryan Godbolt <godbolt@ece.ualberta.ca>
- */
-class RadioCalibrationData : public QObject
-{
- Q_OBJECT
-
-public:
- explicit RadioCalibrationData();
- RadioCalibrationData(const RadioCalibrationData&);
- RadioCalibrationData(const QVector<uint16_t>& aileron,
- const QVector<uint16_t>& elevator,
- const QVector<uint16_t>& rudder,
- const QVector<uint16_t>& gyro,
- const QVector<uint16_t>& pitch,
- const QVector<uint16_t>& throttle);
- ~RadioCalibrationData();
-
- enum RadioElement {
- AILERON=0,
- ELEVATOR,
- RUDDER,
- GYRO,
- PITCH,
- THROTTLE
- };
-
- const uint16_t* operator[](int i) const;
-#ifdef _MSC_VER
- const QVector<uint16_t>& operator()(int i) const;
-#else
- const QVector<uint16_t>& operator()(int i) const throw(std::out_of_range);
-#endif
- void set(int element, int index, float value) {
- (*data)[element][index] = value;
- }
-
-public slots:
- void setAileron(int index, uint16_t value) {
- set(AILERON, index, value);
- }
- void setElevator(int index, uint16_t value) {
- set(ELEVATOR, index, value);
- }
- void setRudder(int index, uint16_t value) {
- set(RUDDER, index, value);
- }
- void setGyro(int index, uint16_t value) {
- set(GYRO, index, value);
- }
- void setPitch(int index, uint16_t value) {
- set(PITCH, index, value);
- }
- void setThrottle(int index, uint16_t value) {
- set(THROTTLE, index, value);
- }
-
-public:
- /// Creates a comma seperated list of the values for a particular element
- QString toString(const RadioElement element) const;
-
-protected:
- QVector<QVector<uint16_t> > *data;
-
- void init(const QVector<float>& aileron,
- const QVector<float>& elevator,
- const QVector<float>& rudder,
- const QVector<float>& gyro,
- const QVector<float>& pitch,
- const QVector<float>& throttle);
-
-};
-
-#endif // RADIOCALIBRATIONDATA_H
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.cc b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
deleted file mode 100644
index 14b913c1de0b58d0b238e929c2bb40c8915e6ab3..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.cc
+++ /dev/null
@@ -1,298 +0,0 @@
-#include "RadioCalibrationWindow.h"
-#include "QGCFileDialog.h"
-
-RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
- QWidget(parent, Qt::Window),
- radio(new RadioCalibrationData())
-{
- QGridLayout *grid = new QGridLayout();
-
- aileron = new AirfoilServoCalibrator(AirfoilServoCalibrator::AILERON);
- grid->addWidget(aileron, 0, 0, 1, 1, Qt::AlignTop);
-
- elevator = new AirfoilServoCalibrator(AirfoilServoCalibrator::ELEVATOR);
- grid->addWidget(elevator, 0, 1, 1, 1, Qt::AlignTop);
-
- rudder = new AirfoilServoCalibrator(AirfoilServoCalibrator::RUDDER);
- grid->addWidget(rudder, 0, 2, 1, 1, Qt::AlignTop);
-
- gyro = new SwitchCalibrator(tr("Gyro Mode/Gain"));
- grid->addWidget(gyro, 0, 3, 1, 1, Qt::AlignTop);
-
-
- pitch = new CurveCalibrator(tr("Collective Pitch"));
- grid->addWidget(pitch, 1, 0, 1, 2);
-
- throttle = new CurveCalibrator(tr("Throttle"));
- grid->addWidget(throttle, 1, 2, 1, 2);
-
- /* Buttons for loading/transmitting calibration data */
- QHBoxLayout *hbox = new QHBoxLayout();
- QPushButton *load = new QPushButton(tr("Load File"));
- QPushButton *save = new QPushButton(tr("Save File"));
- QPushButton *transmit = new QPushButton(tr("Transmit to UAV"));
- QPushButton *get = new QPushButton(tr("Get from UAV"));
- hbox->addWidget(load);
- hbox->addWidget(save);
- hbox->addWidget(transmit);
- hbox->addWidget(get);
- grid->addLayout(hbox, 2, 0, 1, 4);
- this->setLayout(grid);
-
- connect(load, SIGNAL(clicked()), this, SLOT(loadFile()));
- connect(save, SIGNAL(clicked()), this, SLOT(saveFile()));
- connect(transmit, SIGNAL(clicked()), this, SLOT(send()));
- connect(get, SIGNAL(clicked()), this, SLOT(request()));
-
- connect(aileron, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setAileron(int,uint16_t)));
- connect(elevator, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setElevator(int,uint16_t)));
- connect(rudder, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setRudder(int,uint16_t)));
- connect(gyro, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setGyro(int,uint16_t)));
- connect(pitch, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setPitch(int,uint16_t)));
- connect(throttle, SIGNAL(setpointChanged(int,uint16_t)), radio, SLOT(setThrottle(int,uint16_t)));
- setUASId(0);
-}
-
-
-
-void RadioCalibrationWindow::setChannel(int ch, float raw)
-{
- /** this expects a particular channel to function mapping
- \todo allow run-time channel mapping
- */
- switch (ch) {
- case 0:
- aileron->channelChanged(raw);
- break;
- case 1:
- elevator->channelChanged(raw);
- break;
- case 2:
- throttle->channelChanged(raw);
- break;
- case 3:
- rudder->channelChanged(raw);
- break;
- case 4:
- gyro->channelChanged(raw);
- break;
- case 5:
- pitch->channelChanged(raw);
- break;
-
-
- }
-}
-
-void RadioCalibrationWindow::saveFile()
-{
- QString fileName(QGCFileDialog::getSaveFileName(this,
- tr("Save RC Calibration"),
- "settings/",
- tr("XML Files (*.xml)")));
- if (fileName.isEmpty())
- return;
-
- QDomDocument *rcConfig = new QDomDocument();
-
- QFile rcFile(fileName);
- if (rcFile.exists()) {
- rcFile.remove();
- }
- if (!rcFile.open(QFile::WriteOnly | QFile::Text)) {
- qDebug() << __FILE__ << __LINE__ << "could not open" << rcFile.fileName() << "for writing";
- return;
- }
-
- QDomElement root;
- rcConfig->appendChild(root=rcConfig->createElement("channels"));
- QDomElement e;
- QDomText t;
-
- // Aileron
- e = rcConfig->createElement("threeSetpoint");
- e.setAttribute("name", "Aileron");
- e.setAttribute("number", "1");
- t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::AILERON));
- e.appendChild(t);
- root.appendChild(e);
- // Elevator
- e = rcConfig->createElement("threeSetpoint");
- e.setAttribute("name", "Elevator");
- e.setAttribute("number", "2");
- t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::ELEVATOR));
- e.appendChild(t);
- root.appendChild(e);
- // Rudder
- e = rcConfig->createElement("threeSetpoint");
- e.setAttribute("name", "Rudder");
- e.setAttribute("number", "4");
- t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::RUDDER));
- e.appendChild(t);
- root.appendChild(e);
- // Gyro Mode/Gain
- e = rcConfig->createElement("twoSetpoint");
- e.setAttribute("name", "Gyro");
- e.setAttribute("number", "5");
- t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::GYRO));
- e.appendChild(t);
- root.appendChild(e);
- // Throttle
- e = rcConfig->createElement("fiveSetpoint");
- e.setAttribute("name", "Throttle");
- e.setAttribute("number", "3");
- t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::THROTTLE));
- e.appendChild(t);
- root.appendChild(e);
- // Pitch
- e = rcConfig->createElement("fiveSetpoint");
- e.setAttribute("name", "Pitch");
- e.setAttribute("number", "6");
- t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::PITCH));
- e.appendChild(t);
- root.appendChild(e);
-
-
- QTextStream out(&rcFile);
- const int IndentSize = 4;
- rcConfig->save(out, IndentSize);
- rcFile.close();
-
-}
-
-void RadioCalibrationWindow::loadFile()
-{
- QString fileName(QGCFileDialog::getOpenFileName(this,
- tr("Load RC Calibration"),
- "settings/",
- tr("XML Files (*.xml)")));
-
- if (fileName.isEmpty())
- return;
-
- QFile rcFile(fileName);
- if (!rcFile.exists()) {
- return;
- }
-
- if (!rcFile.open(QIODevice::ReadOnly)) {
- return;
- }
-
- QDomDocument *rcConfig = new QDomDocument();
-
- QString errorStr;
- int errorLine;
- int errorColumn;
-
- if (!rcConfig->setContent(&rcFile, true, &errorStr, &errorLine,
- &errorColumn)) {
- qDebug() << "Error reading XML Parameter File on line: " << errorLine << errorStr;
- return;
- }
-
- rcFile.close();
- QDomElement root = rcConfig->documentElement();
- if (root.tagName() != "channels") {
- qDebug() << __FILE__ << __LINE__ << "This is not a Radio Calibration xml file";
- return;
- }
-
-
- QPointer<RadioCalibrationData> newRadio = new RadioCalibrationData();
- QDomElement child = root.firstChildElement();
- while (!child.isNull()) {
- parseSetpoint(child, newRadio);
- child = child.nextSiblingElement();
- }
-
- receive(newRadio);
-
- delete newRadio;
- delete rcConfig;
-}
-
-void RadioCalibrationWindow::parseSetpoint(const QDomElement &setpoint, const QPointer<RadioCalibrationData>& newRadio)
-{
- QVector<float> setpoints;
- QStringList setpointList = setpoint.text().split(",", QString::SkipEmptyParts);
- foreach (QString setpoint, setpointList)
- setpoints << setpoint.trimmed().toFloat();
-
-// qDebug() << __FILE__ << __LINE__ << ": " << setpoint.tagName() << ": " << setpoint.attribute("name") ;
- if (setpoint.tagName() == "threeSetpoint") {
- if (setpoints.isEmpty())
- setpoints << 0 << 0 << 0;
- for (int i=0; i<3; ++i) {
- if (setpoint.attribute("name").toUpper() == "AILERON")
- newRadio->setAileron(i, setpoints[i]);
- else if(setpoint.attribute("name").toUpper() == "ELEVATOR")
- newRadio->setElevator(i, setpoints[i]);
- else if(setpoint.attribute("name").toUpper() == "RUDDER")
- newRadio->setRudder(i, setpoints[i]);
- }
- } else if (setpoint.tagName() == "twoSetpoint") {
- if (setpoints.isEmpty())
- setpoints << 0 << 0;
- for (int i=0; i<2; ++i) {
- if (setpoint.attribute("name").toUpper() == "GYRO")
- newRadio->setGyro(i, setpoints[i]);
- }
- } else if (setpoint.tagName() == "fiveSetpoint") {
- if (setpoints.isEmpty())
- setpoints << 0 << 0 << 0 << 0 << 0;
- for (int i=0; i<5; ++i) {
- if (setpoint.attribute("name").toUpper() == "PITCH")
- newRadio->setPitch(i, setpoints[i]);
- else if (setpoint.attribute("name").toUpper() == "THROTTLE")
- newRadio->setThrottle(i, setpoints[i]);
- }
- }
-}
-
-void RadioCalibrationWindow::send()
-{
- qDebug() << __FILE__ << __LINE__ << "uasId = " << uasId;
-#ifdef MAVLINK_ENABLED_UALBERTA
- UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
- if (uas) {
- mavlink_message_t msg;
- mavlink_msg_radio_calibration_pack(uasId, 0, &msg,
- (*radio)[RadioCalibrationData::AILERON],
- (*radio)[RadioCalibrationData::ELEVATOR],
- (*radio)[RadioCalibrationData::RUDDER],
- (*radio)[RadioCalibrationData::GYRO],
- (*radio)[RadioCalibrationData::PITCH],
- (*radio)[RadioCalibrationData::THROTTLE]);
- uas->sendMessage(msg);
- }
-#endif
-}
-
-void RadioCalibrationWindow::request()
-{
- // FIXME MAVLINKV10PORTINGNEEDED
-// qDebug() << __FILE__ << __LINE__ << "READ FROM UAV";
-// UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
-// if (uas) {
-// mavlink_message_t msg;
-// mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC);
-// uas->sendMessage(msg);
-// }
-}
-
-void RadioCalibrationWindow::receive(const QPointer<RadioCalibrationData>& radio)
-{
- if (radio) {
- if (this->radio)
- delete this->radio;
- this->radio = new RadioCalibrationData(*radio);
-
- aileron->set((*radio)(RadioCalibrationData::AILERON));
- elevator->set((*radio)(RadioCalibrationData::ELEVATOR));
- rudder->set((*radio)(RadioCalibrationData::RUDDER));
- gyro->set((*radio)(RadioCalibrationData::GYRO));
- pitch->set((*radio)(RadioCalibrationData::PITCH));
- throttle->set((*radio)(RadioCalibrationData::THROTTLE));
- }
-}
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.h b/src/ui/RadioCalibration/RadioCalibrationWindow.h
deleted file mode 100644
index fe246ecf376b72284df4531df3c75faef5cb8825..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.h
+++ /dev/null
@@ -1,93 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- * @brief Main window for radio calibration
- * @author Bryan Godbolt <godbolt@ualberta.ca>
- */
-
-#ifndef RADIOCALIBRATIONWINDOW_H
-#define RADIOCALIBRATIONWINDOW_H
-
-#include <QWidget>
-#include <QLabel>
-#include <QGroupBox>
-#include <QPushButton>
-#include <QVector>
-#include <QGridLayout>
-#include <QHBoxLayout>
-#include <QDebug>
-#include <QPointer>
-#include <QFile>
-#include <QtXml>
-#include <QTextStream>
-
-#include <stdint.h>
-
-#include "AirfoilServoCalibrator.h"
-#include "SwitchCalibrator.h"
-#include "CurveCalibrator.h"
-
-#include "UAS.h"
-#include "UASManager.h"
-#include "RadioCalibrationData.h"
-
-/**
- @brief Main window for radio calibration
- @author Bryan Godbolt <godbolt@ece.ualberta.ca>
- */
-class RadioCalibrationWindow : public QWidget
-{
- Q_OBJECT
-
-public:
- explicit RadioCalibrationWindow(QWidget *parent = 0);
-
-public slots:
- void setChannel(int ch, float raw);
- void loadFile();
- void saveFile();
- void send();
- void request();
- void receive(const QPointer<RadioCalibrationData>& radio);
- void setUASId(int id) {
- this->uasId = id;
- }
-
-
-protected:
- AirfoilServoCalibrator *aileron;
- AirfoilServoCalibrator *elevator;
- AirfoilServoCalibrator *rudder;
- SwitchCalibrator *gyro;
- CurveCalibrator *pitch;
- CurveCalibrator *throttle;
- int uasId;
- QPointer<RadioCalibrationData> radio;
- QSignalMapper mapper;
-
- void parseSetpoint(const QDomElement& setpoint, const QPointer<RadioCalibrationData>& radio);
-};
-
-#endif // RADIOCALIBRATIONWINDOW_H
diff --git a/src/ui/RadioCalibration/SwitchCalibrator.cc b/src/ui/RadioCalibration/SwitchCalibrator.cc
deleted file mode 100644
index 695dddfc3e518f12d88a8e2c275458649abecf18..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/SwitchCalibrator.cc
+++ /dev/null
@@ -1,57 +0,0 @@
-#include "SwitchCalibrator.h"
-
-SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
- AbstractCalibrator(parent),
- defaultPulseWidth(new QLabel()),
- toggledPulseWidth(new QLabel())
-{
- /* Add title label*/
- QLabel *title = new QLabel(titleString);
- QGridLayout *grid = new QGridLayout();
- grid->addWidget(title, 0, 0, 1, 3);
-
- /* Add current Pulse Width Display */
- QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
- QHBoxLayout *pulseLayout = new QHBoxLayout();
- pulseLayout->addWidget(pulseWidthTitle);
- pulseLayout->addWidget(pulseWidth);
- grid->addLayout(pulseLayout, 1, 0, 1, 3);
-
- QLabel *defaultPulseString = new QLabel(tr("Default Position"));
- QPushButton *defaultButton = new QPushButton(tr("Set"));
- grid->addWidget(defaultPulseString, 2, 0);
- grid->addWidget(defaultPulseWidth, 2, 1);
- grid->addWidget(defaultButton, 2, 2);
-
- QLabel *toggledPulseString = new QLabel(tr("Toggled Position"));
- QPushButton *toggledButton = new QPushButton(tr("Set"));
- grid->addWidget(toggledPulseString, 3, 0);
- grid->addWidget(toggledPulseWidth, 3, 1);
- grid->addWidget(toggledButton, 3, 2);
-
- this->setLayout(grid);
-
- connect(defaultButton, SIGNAL(clicked()), this, SLOT(setDefault()));
- connect(toggledButton, SIGNAL(clicked()), this, SLOT(setToggled()));
-}
-
-
-void SwitchCalibrator::setDefault()
-{
- defaultPulseWidth->setText(QString::number(logExtrema()));
- emit setpointChanged(0, logExtrema());
-}
-
-void SwitchCalibrator::setToggled()
-{
- toggledPulseWidth->setText(QString::number(logExtrema()));
- emit setpointChanged(1, logExtrema());
-}
-
-void SwitchCalibrator::set(const QVector<uint16_t> &data)
-{
- if (data.size() == 2) {
- defaultPulseWidth->setText(QString::number(data[0]));
- toggledPulseWidth->setText(QString::number(data[1]));
- }
-}
diff --git a/src/ui/RadioCalibration/SwitchCalibrator.h b/src/ui/RadioCalibration/SwitchCalibrator.h
deleted file mode 100644
index c89978b55fbbaca8ff5b60ab800a1d51b5b44cc3..0000000000000000000000000000000000000000
--- a/src/ui/RadioCalibration/SwitchCalibrator.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- * @brief Calibration widget for 2 setpoint switch
- * @author Bryan Godbolt <godbolt@ualberta.ca>
- */
-
-#ifndef SWITCHCALIBRATOR_H
-#define SWITCHCALIBRATOR_H
-
-#include <QWidget>
-#include <QLabel>
-#include <QPushButton>
-#include <QVector>
-#include <QGridLayout>
-#include <QHBoxLayout>
-
-#include "AbstractCalibrator.h"
-
-/**
- @brief Calibration widget for 2 setpoint switch
- @author Bryan Godbolt <godbolt@ece.ualberta.ca>
- */
-class SwitchCalibrator : public AbstractCalibrator
-{
- Q_OBJECT
-public:
- explicit SwitchCalibrator(QString title=QString(), QWidget *parent = 0);
-
- void set(const QVector<uint16_t> &data);
-
-protected slots:
- void setDefault();
- void setToggled();
-
-protected:
- QLabel *defaultPulseWidth;
- QLabel *toggledPulseWidth;
-
-};
-
-#endif // SWITCHCALIBRATOR_H
diff --git a/src/ui/UASControlParameters.ui b/src/ui/UASControlParameters.ui
deleted file mode 100644
index 48bd71db22adda4f6b1572a04a291a5c690671a3..0000000000000000000000000000000000000000
--- a/src/ui/UASControlParameters.ui
+++ /dev/null
@@ -1,246 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>UASControlParameters</class>
- <widget class="QWidget" name="UASControlParameters">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>204</width>
- <height>246</height>
- </rect>
- </property>
- <property name="minimumSize">
- <size>
- <width>200</width>
- <height>150</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>267</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="windowTitle">
- <string>Form</string>
- </property>
- <layout class="QGridLayout" name="gridLayout">
- <item row="0" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_5">
- <item>
- <spacer name="horizontalSpacer_2">
- <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>
- <widget class="QLabel" name="lbMode">
- <property name="minimumSize">
- <size>
- <width>100</width>
- <height>0</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>----</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <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="1" column="0">
- <widget class="QTabWidget" name="tabWidget">
- <property name="styleSheet">
- <string notr="true"/>
- </property>
- <property name="currentIndex">
- <number>0</number>
- </property>
- <widget class="QWidget" name="tab">
- <attribute name="title">
- <string>Commands</string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="1" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Height (m)</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QDoubleSpinBox" name="sbHeight">
- <property name="maximum">
- <double>1500.000000000000000</double>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="2" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_3">
- <item>
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Airspeed (m/s)</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QDoubleSpinBox" name="sbAirSpeed">
- <property name="maximum">
- <double>500.000000000000000</double>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="3" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Turn Rate (rad/s)</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QDoubleSpinBox" name="sbTurnRate">
- <property name="maximum">
- <double>180.000000000000000</double>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="4" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_4">
- <item>
- <widget class="QPushButton" name="btSetCommands">
- <property name="text">
- <string>Set</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="btGetCommands">
- <property name="text">
- <string>Get</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="5" column="0">
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>27</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_2">
- <attribute name="title">
- <string>Passthrough</string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="0" column="0">
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <widget class="QCheckBox" name="cxdle_c">
- <property name="text">
- <string>Elevator</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="cxdr_c">
- <property name="text">
- <string>Rudder</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="cxdt_c">
- <property name="text">
- <string>Throttle</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="cxdla_c">
- <property name="text">
- <string>Ailerons</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="1" column="0">
- <widget class="QPushButton" name="btSetCtrl">
- <property name="text">
- <string>Set</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <spacer name="verticalSpacer_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>26</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </widget>
- </widget>
- </item>
- </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/src/ui/designer/QGCComboBox.cc b/src/ui/designer/QGCComboBox.cc
index d034fca66aad4315f58b4318d7d90a39a9c0ce99..2a0747c0e43fb022a48130342bccf4c6014f972c 100644
--- a/src/ui/designer/QGCComboBox.cc
+++ b/src/ui/designer/QGCComboBox.cc
@@ -3,6 +3,7 @@
#include <QSettings>
#include <QTimer>
#include <QToolTip>
+#include <QDebug>
#include "QGCComboBox.h"
#include "ui_QGCComboBox.h"
diff --git a/src/ui/designer/QGCCommandButton.cc b/src/ui/designer/QGCCommandButton.cc
index d8a3748846d87bbb6bbaa1dcb5b43359ea22ffc4..70b892615ae37c7c56606833fd326a9490cb4080 100644
--- a/src/ui/designer/QGCCommandButton.cc
+++ b/src/ui/designer/QGCCommandButton.cc
@@ -1,4 +1,5 @@
#include <QDockWidget>
+#include <QDebug>
#include "QGCCommandButton.h"
#include "ui_QGCCommandButton.h"
diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc
index 502166bfcbb1f312cc9f015ae363e84d419c7d72..ba19fe473dd4b2dbc77586dc8d2e489ae5d82feb 100644
--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -3,6 +3,7 @@
#include <QSettings>
#include <QTimer>
#include <QToolTip>
+#include <QDebug>
#include "QGCParamSlider.h"
#include "ui_QGCParamSlider.h"
diff --git a/src/ui/linechart/ChartPlot.h b/src/ui/linechart/ChartPlot.h
index c5196ae8b506e3ba2cbd7efd8d3b32e80bd75c8b..2a44b93874547b5d9d12b209b0c0d362d27ee77f 100644
--- a/src/ui/linechart/ChartPlot.h
+++ b/src/ui/linechart/ChartPlot.h
@@ -3,6 +3,7 @@
#include <qwt_plot.h>
#include <qwt_plot_grid.h>
+#include <qwt_plot_curve.h>
#include "MainWindow.h"
#include "ScrollZoomer.h"
diff --git a/src/ui/uas/UASActionsWidget.cpp b/src/ui/uas/UASActionsWidget.cpp
deleted file mode 100644
index 96d08c7b0a997038bac275b24608c5d6222efc39..0000000000000000000000000000000000000000
--- a/src/ui/uas/UASActionsWidget.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "UASActionsWidget.h"
-#include <QMessageBox>
-#include <UAS.h>
-UASActionsWidget::UASActionsWidget(QWidget *parent) : QWidget(parent)
-{
- m_uas = 0;
- ui.setupUi(this);
- connect(ui.changeAltitudeButton,SIGNAL(clicked()),this,SLOT(changeAltitudeClicked()));
- connect(ui.changeSpeedButton,SIGNAL(clicked()),this,SLOT(changeSpeedClicked()));
- connect(ui.goToWaypointButton,SIGNAL(clicked()),this,SLOT(goToWaypointClicked()));
- connect(ui.armDisarmButton,SIGNAL(clicked()),this,SLOT(armButtonClicked()));
- connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
- if (UASManager::instance()->getActiveUAS())
- {
- activeUASSet(UASManager::instance()->getActiveUAS());
- }
-}
-
-void UASActionsWidget::activeUASSet(UASInterface *uas)
-{
- m_uas = uas;
- if (uas)
- {
- connect(m_uas->getWaypointManager(),SIGNAL(waypointEditableListChanged()),this,SLOT(updateWaypointList()));
- connect(m_uas->getWaypointManager(),SIGNAL(currentWaypointChanged(quint16)),this,SLOT(currentWaypointChanged(quint16)));
- connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
- armingChanged(m_uas->isArmed());
- }
- updateWaypointList();
-}
-void UASActionsWidget::armButtonClicked()
-{
- if (m_uas)
- {
- if (m_uas->isArmed())
- {
- ((UAS*)m_uas)->disarmSystem();
- }
- else
- {
- ((UAS*)m_uas)->armSystem();
- }
- }
-}
-
-void UASActionsWidget::armingChanged(bool state)
-{
- //TODO:
- //Figure out why arm/disarm is in UAS.h and not part of the interface, and fix.
- if (state)
- {
- ui.armDisarmButton->setText("DISARM\nCurrently Armed");
- }
- else
- {
- ui.armDisarmButton->setText("ARM\nCurrently Disarmed");
- }
-
-}
-
-void UASActionsWidget::currentWaypointChanged(quint16 wpid)
-{
- ui.currentWaypointLabel->setText("Current: " + QString::number(wpid));
-}
-
-void UASActionsWidget::updateWaypointList()
-{
- ui.waypointComboBox->clear();
- if (m_uas)
- {
- for (int i=0;i<m_uas->getWaypointManager()->getWaypointEditableList().size();i++)
- {
- ui.waypointComboBox->addItem(QString::number(i));
- }
- }
-}
-
-UASActionsWidget::~UASActionsWidget()
-{
-}
-void UASActionsWidget::goToWaypointClicked()
-{
- if (!m_uas)
- {
- return;
- }
- m_uas->getWaypointManager()->setCurrentWaypoint(ui.waypointComboBox->currentIndex());
-}
-
-void UASActionsWidget::changeAltitudeClicked()
-{
- QMessageBox::information(0,"Error","No implemented yet.");
-}
-
-void UASActionsWidget::changeSpeedClicked()
-{
- if (!m_uas)
- {
- return;
- }
- if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
- {
- m_uas->setParameter(1,"WP_SPEED_MAX",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
- return;
- }
- else if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
- {
- QVariant variant;
- if (m_uas->getParamManager()->getParameterValue(1,"ARSPD_ENABLE",variant))
- {
- if (variant.toInt() == 1)
- {
- m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
- return;
- }
-
- }
- m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
- }
-}
diff --git a/src/ui/uas/UASActionsWidget.h b/src/ui/uas/UASActionsWidget.h
deleted file mode 100644
index a6f256d79be2c3b744c85af48cefb878c39e3fbc..0000000000000000000000000000000000000000
--- a/src/ui/uas/UASActionsWidget.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef UASACTIONSWIDGET_H
-#define UASACTIONSWIDGET_H
-
-#include <QWidget>
-#include "ui_UASActionsWidget.h"
-#include <UASManager.h>
-#include <UASInterface.h>
-class UASActionsWidget : public QWidget
-{
- Q_OBJECT
-
-public:
- explicit UASActionsWidget(QWidget *parent = 0);
- ~UASActionsWidget();
-private:
- Ui::UASActionsWidget ui;
- UASInterface *m_uas;
-private slots:
- void armButtonClicked();
- void armingChanged(bool state);
- void currentWaypointChanged(quint16 wpid);
- void updateWaypointList();
- void activeUASSet(UASInterface *uas);
- void goToWaypointClicked();
- void changeAltitudeClicked();
- void changeSpeedClicked();
-};
-
-#endif // UASACTIONSWIDGET_H
diff --git a/src/ui/uas/UASActionsWidget.ui b/src/ui/uas/UASActionsWidget.ui
deleted file mode 100644
index ae22a05da05a86afd42db9e0b6c4134650a6cea6..0000000000000000000000000000000000000000
--- a/src/ui/uas/UASActionsWidget.ui
+++ /dev/null
@@ -1,154 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>UASActionsWidget</class>
- <widget class="QWidget" name="UASActionsWidget">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>321</width>
- <height>363</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>Form</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <property name="margin">
- <number>6</number>
- </property>
- <item>
- <widget class="QGroupBox" name="groupBox">
- <property name="title">
- <string>Mission Controls</string>
- </property>
- <layout class="QGridLayout" name="gridLayout">
- <property name="margin">
- <number>6</number>
- </property>
- <property name="spacing">
- <number>6</number>
- </property>
- <item row="0" column="0">
- <widget class="QComboBox" name="waypointComboBox"/>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="currentWaypointLabel">
- <property name="text">
- <string>Current:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QPushButton" name="goToWaypointButton">
- <property name="text">
- <string>Go To Waypoint</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QPushButton" name="pushButton_6">
- <property name="text">
- <string>Restart Mission</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0" colspan="2">
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QSpinBox" name="altitudeSpinBox"/>
- </item>
- <item>
- <widget class="QPushButton" name="changeAltitudeButton">
- <property name="text">
- <string>Change Altitude</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="3" column="0" colspan="2">
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QSpinBox" name="speedSpinBox"/>
- </item>
- <item>
- <widget class="QPushButton" name="changeSpeedButton">
- <property name="text">
- <string>Change Speed</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_2">
- <property name="title">
- <string>Auto Actions</string>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <property name="margin">
- <number>6</number>
- </property>
- <property name="spacing">
- <number>6</number>
- </property>
- <item row="0" column="0" colspan="2">
- <widget class="QComboBox" name="comboBox"/>
- </item>
- <item row="0" column="2" colspan="2">
- <widget class="QComboBox" name="comboBox_3"/>
- </item>
- <item row="1" column="0" colspan="2">
- <widget class="QPushButton" name="pushButton_8">
- <property name="text">
- <string>Execute Action</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2" colspan="2">
- <widget class="QPushButton" name="pushButton_5">
- <property name="text">
- <string>Set Mode</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QPushButton" name="pushButton">
- <property name="text">
- <string>Auto</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1" colspan="2">
- <widget class="QPushButton" name="pushButton_2">
- <property name="text">
- <string>Manual</string>
- </property>
- </widget>
- </item>
- <item row="2" column="3">
- <widget class="QPushButton" name="pushButton_4">
- <property name="text">
- <string>RTL</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0" colspan="4">
- <widget class="QPushButton" name="armDisarmButton">
- <property name="text">
- <string>ARM</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/src/ui/uas/UASControlParameters.cpp b/src/ui/uas/UASControlParameters.cpp
deleted file mode 100644
index 2f5c61d23f80676ef53fe6d5134eb4214d89371b..0000000000000000000000000000000000000000
--- a/src/ui/uas/UASControlParameters.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-#include "UASControlParameters.h"
-#include "ui_UASControlParameters.h"
-
-#define CONTROL_MODE_LOCKED "MODE LOCKED"
-#define CONTROL_MODE_MANUAL "MODE MANUAL"
-
-#define CONTROL_MODE_READY "MODE TEST3"
-#define CONTROL_MODE_RC_TRAINING "RC SIMULATION"
-
-#define CONTROL_MODE_LOCKED_INDEX 1
-#define CONTROL_MODE_MANUAL_INDEX 2
-#define CONTROL_MODE_GUIDED_INDEX 3
-#define CONTROL_MODE_AUTO_INDEX 4
-#define CONTROL_MODE_TEST1_INDEX 5
-#define CONTROL_MODE_TEST2_INDEX 6
-#define CONTROL_MODE_TEST3_INDEX 7
-#define CONTROL_MODE_READY_INDEX 8
-#define CONTROL_MODE_RC_TRAINING_INDEX 9
-
-UASControlParameters::UASControlParameters(QWidget *parent) :
- QWidget(parent),
- ui(new Ui::UASControlParameters)
-{
- ui->setupUi(this);
-
- ui->btSetCtrl->setStatusTip(tr("Set Passthrough"));
-
- connect(ui->btGetCommands, SIGNAL(clicked()), this, SLOT(getCommands()));
-
- connect(ui->btSetCtrl, SIGNAL(clicked()), this, SLOT(setPassthrough()));
-}
-
-UASControlParameters::~UASControlParameters()
-{
- delete ui;
-}
-
-void UASControlParameters::changedMode(int mode)
-{
- QString modeTemp;
-
- switch (mode) {
- case (uint8_t)MAV_MODE_PREFLIGHT:
- modeTemp = "LOCKED MODE";
- break;
- case (uint8_t)MAV_MODE_MANUAL_ARMED:
- modeTemp = "A/MANUAL MODE";
- break;
- case (uint8_t)MAV_MODE_MANUAL_DISARMED:
- modeTemp = "D/MANUAL MODE";
- break;
- default:
- modeTemp = "UNKNOWN MODE";
- break;
- }
-
-
- if(modeTemp != this->mode) {
- ui->lbMode->setStyleSheet("background-color: rgb(165, 42, 42)");
- } else {
- ui->lbMode->setStyleSheet("background-color: rgb(85, 107, 47)");
- }
-}
-
-void UASControlParameters::activeUasSet(UASInterface *uas)
-{
- if(uas) {
- connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
- connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
- connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
- connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
- connect(uas, SIGNAL(thrustChanged(UASInterface*,double)), this, SLOT(thrustChanged(UASInterface*,double)) );
-
- activeUAS= uas;
- }
-}
-
-void UASControlParameters::updateGlobalPosition(UASInterface * a, double b, double c, double aa, quint64 ab)
-{
- Q_UNUSED(a);
- Q_UNUSED(b);
- Q_UNUSED(c);
- Q_UNUSED(ab);
- this->altitude=aa;
-}
-
-void UASControlParameters::speedChanged(UASInterface* uas, double vx, double vy, double vz, quint64 time)
-{
- Q_UNUSED(time);
- Q_UNUSED(uas);
- this->speed = sqrt(pow(vx, 2.0) + pow(vy, 2.0) + pow(vz, 2.0));
- //ui->sbAirSpeed->setValue(speed);
-}
-
-void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double pitch, double yaw, quint64 time)
-{
- Q_UNUSED(uas);
- Q_UNUSED(pitch);
- Q_UNUSED(yaw);
- Q_UNUSED(time);
- //ui->sbTurnRate->setValue(roll);
- this->roll = roll;
-}
-
-void UASControlParameters::setCommands()
-{
-}
-
-void UASControlParameters::getCommands()
-{
- ui->sbAirSpeed->setValue(this->speed);
- ui->sbHeight->setValue(this->altitude);
- ui->sbTurnRate->setValue(this->roll);
-}
-
-void UASControlParameters::setPassthrough()
-{
-}
-
-void UASControlParameters::updateMode(int uas,QString mode,QString description)
-{
- Q_UNUSED(uas);
- Q_UNUSED(description);
- this->mode = mode;
- ui->lbMode->setText(this->mode);
-
- ui->lbMode->setStyleSheet("background-color: rgb(85, 107, 47)");
-}
-
-void UASControlParameters::thrustChanged(UASInterface *uas, double throttle)
-{
- Q_UNUSED(uas);
- this->throttle= throttle;
-}
diff --git a/src/ui/uas/UASControlParameters.h b/src/ui/uas/UASControlParameters.h
deleted file mode 100644
index 4cd221809b196cdb0fbfc930a3c0bbb207907602..0000000000000000000000000000000000000000
--- a/src/ui/uas/UASControlParameters.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#ifndef UASCONTROLPARAMETERS_H
-#define UASCONTROLPARAMETERS_H
-
-#include <QWidget>
-#include "UASManager.h"
-#include <QTimer>
-#include <QTabWidget>
-
-namespace Ui
-{
-class UASControlParameters;
-}
-
-class UASControlParameters : public QWidget
-{
- Q_OBJECT
-
-public:
- explicit UASControlParameters(QWidget *parent = 0);
- ~UASControlParameters();
-
-public slots:
- void changedMode(int mode);
- void activeUasSet(UASInterface* uas);
- void updateGlobalPosition(UASInterface*,double,double,double,quint64);
- void speedChanged(UASInterface*,double,double,double,quint64);
- void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
- void setCommands();
- void getCommands();
-
- void setPassthrough();
- void updateMode(int uas,QString mode,QString description);
- void thrustChanged(UASInterface* uas,double throttle);
-
-private:
- Ui::UASControlParameters *ui;
- QTimer* refreshTimerGet;
- UASInterface* activeUAS;
- double speed;
- double roll;
- double altitude;
- double throttle;
- QString mode;
- QString REDcolorStyle;
- QPointer<RadioCalibrationData> radio;
- LinkInterface* hilLink;
-};
-
-#endif // UASCONTROLPARAMETERS_H