working on radio calibration window

src/uas/UAS.cc

@@ -958,12 +958,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_RADIO_CALIBRATION: {
                 mavlink_radio_calibration_t radioMsg;
                 mavlink_msg_radio_calibration_decode(&message, &radioMsg);
-                QVector<float> aileron;
-                QVector<float> elevator;
-                QVector<float> rudder;
-                QVector<float> gyro;
-                QVector<float> pitch;
-                QVector<float> throttle;
+                QVector<uint16_t> aileron;
+                QVector<uint16_t> elevator;
+                QVector<uint16_t> rudder;
+                QVector<uint16_t> gyro;
+                QVector<uint16_t> pitch;
+                QVector<uint16_t> throttle;
 
                 for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN; ++i)
                     aileron << radioMsg.aileron[i];

src/ui/RadioCalibration/AbstractCalibrator.cc

@@ -3,7 +3,7 @@
 AbstractCalibrator::AbstractCalibrator(QWidget *parent) :
     QWidget(parent),
     pulseWidth(new QLabel()),
-    log(new QVector<float>())
+    log(new QVector<uint16_t>())
 {
 }
 

src/ui/RadioCalibration/AbstractCalibrator.h

@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QVector>
 
 #include <math.h>
+#include <stdint.h>
 
 /**
   @brief Holds the code which is common to all the radio calibration widgets.

src/ui/RadioCalibration/AirfoilServoCalibrator.cc

@@ -78,19 +78,19 @@ AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent
 
 void AirfoilServoCalibrator::setHigh()
 {
-    highPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    highPulseWidth->setText(QString::number(logExtrema()));
     emit setpointChanged(2, logExtrema());
 }
 
 void AirfoilServoCalibrator::setCenter()
 {
-    centerPulseWidth->setText(QString::number(static_cast<double>(logAverage())));
+    centerPulseWidth->setText(QString::number(logAverage()));
     emit setpointChanged(1, logAverage());
 }
 
 void AirfoilServoCalibrator::setLow()
 {
-    lowPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    lowPulseWidth->setText(QString::number(logExtrema()));
     emit setpointChanged(0, logExtrema());
 }
 

src/ui/RadioCalibration/CurveCalibrator.cc

@@ -2,8 +2,8 @@
 
 CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
     AbstractCalibrator(parent),
-    setpoints(new QVector<double>(5)),
-    positions(new QVector<double>())
+    setpoints(new QVector<uint16_t>(5)),
+    positions(new QVector<uint16_t>())
 {
     QGridLayout *grid = new QGridLayout(this);
     QLabel *title = new QLabel(titleString);
@@ -32,7 +32,17 @@ CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
 
     curve = new QwtPlotCurve();
     curve->setPen(QPen(QColor(QString("lime"))));
-    curve->setData(*positions, *setpoints);
+
+    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->setData(pos, set);
     curve->attach(plot);
 
     plot->replot();
@@ -79,18 +89,36 @@ void CurveCalibrator::setSetpoint(int setpoint)
     } else {
         setpoints->replace(setpoint, logAverage());
     }
-    curve->setData(*positions, *setpoints);
+
+    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->setData(pos, set);
     plot->replot();
 
-    emit setpointChanged(setpoint, static_cast<float>(setpoints->value(setpoint)));
+    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, static_cast<double>(data[i]));
-        curve->setData(*positions, *setpoints);
+            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->setData(pos, set);
         plot->replot();
     } else {
         qDebug() << __FILE__ << __LINE__ << ": wrong data vector size";

src/ui/RadioCalibration/RadioCalibrationData.cc

@@ -2,23 +2,23 @@
 
 RadioCalibrationData::RadioCalibrationData()
 {
-    data = new QVector<QVector<float> >(6);
-    (*data).insert(AILERON, QVector<float>(3));
-    (*data).insert(ELEVATOR, QVector<float>(3));
-    (*data).insert(RUDDER, QVector<float>(3));
-    (*data).insert(GYRO, QVector<float>(2));
-    (*data).insert(PITCH, QVector<float>(5));
-    (*data).insert(THROTTLE, QVector<float>(5));
+    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<float> &aileron,
-        const QVector<float> &elevator,
-        const QVector<float> &rudder,
-        const QVector<float> &gyro,
-        const QVector<float> &pitch,
-        const QVector<float> &throttle)
+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<float> >();
+    data = new QVector<QVector<uint16_t> >();
     (*data) << aileron
             << elevator
             << rudder
@@ -30,7 +30,7 @@ RadioCalibrationData::RadioCalibrationData(const QVector<float> &aileron,
 RadioCalibrationData::RadioCalibrationData(const RadioCalibrationData &other)
     :QObject()
 {
-    data = new QVector<QVector<float> >(*other.data);
+    data = new QVector<QVector<uint16_t> >(*other.data);
 }
 
 RadioCalibrationData::~RadioCalibrationData()
@@ -38,7 +38,7 @@ RadioCalibrationData::~RadioCalibrationData()
     delete data;
 }
 
-const float* RadioCalibrationData::operator [](int i) const
+const uint16_t* RadioCalibrationData::operator [](int i) const
 {
     if (i < data->size()) {
         return (*data)[i].constData();
@@ -47,7 +47,7 @@ const float* RadioCalibrationData::operator [](int i) const
     return NULL;
 }
 
-const QVector<float>& RadioCalibrationData::operator ()(const int i) const throw(std::out_of_range)
+const QVector<uint16_t>& RadioCalibrationData::operator ()(const int i) const throw(std::out_of_range)
 {
     if ((i < data->size()) && (i >=0)) {
         return (*data)[i];

src/ui/RadioCalibration/RadioCalibrationData.h

@@ -36,6 +36,8 @@ This file is part of the QGROUNDCONTROL project
 #include <QString>
 #include <stdexcept>
 
+#include <stdint.h>
+
 
 /**
   @brief Class to hold the calibration data.
@@ -48,12 +50,12 @@ class RadioCalibrationData : public QObject
 public:
     explicit RadioCalibrationData();
     RadioCalibrationData(const RadioCalibrationData&);
-    RadioCalibrationData(const QVector<float>& aileron,
-                         const QVector<float>& elevator,
-                         const QVector<float>& rudder,
-                         const QVector<float>& gyro,
-                         const QVector<float>& pitch,
-                         const QVector<float>& throttle);
+    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 {
@@ -65,33 +67,33 @@ public:
         THROTTLE
     };
 
-    const float* operator[](int i) const;
+    const uint16_t* operator[](int i) const;
 #ifdef _MSC_VER
-    const QVector<float>& operator()(int i) const;
+    const QVector<uint16_t>& operator()(int i) const;
 #else
-    const QVector<float>& operator()(int i) const throw(std::out_of_range);
+    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, float value) {
+    void setAileron(int index, uint16_t value) {
         set(AILERON, index, value);
     }
-    void setElevator(int index, float value) {
+    void setElevator(int index, uint16_t value) {
         set(ELEVATOR, index, value);
     }
-    void setRudder(int index, float value) {
+    void setRudder(int index, uint16_t value) {
         set(RUDDER, index, value);
     }
-    void setGyro(int index, float value) {
+    void setGyro(int index, uint16_t value) {
         set(GYRO, index, value);
     }
-    void setPitch(int index, float value) {
+    void setPitch(int index, uint16_t value) {
         set(PITCH, index, value);
     }
-    void setThrottle(int index, float value) {
+    void setThrottle(int index, uint16_t value) {
         set(THROTTLE, index, value);
     }
 
@@ -100,7 +102,7 @@ public:
     QString toString(const RadioElement element) const;
 
 protected:
-    QVector<QVector<float> > *data;
+    QVector<QVector<uint16_t> > *data;
 
     void init(const QVector<float>& aileron,
               const QVector<float>& elevator,

src/ui/RadioCalibration/RadioCalibrationWindow.h

@@ -44,6 +44,8 @@ This file is part of the QGROUNDCONTROL project
 #include <QtXml>
 #include <QTextStream>
 
+#include <stdint.h>
+
 #include "AirfoilServoCalibrator.h"
 #include "SwitchCalibrator.h"
 #include "CurveCalibrator.h"

src/ui/RadioCalibration/SwitchCalibrator.cc

@@ -38,17 +38,17 @@ SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
 
 void SwitchCalibrator::setDefault()
 {
-    defaultPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    defaultPulseWidth->setText(QString::number(logExtrema()));
     emit setpointChanged(0, logExtrema());
 }
 
 void SwitchCalibrator::setToggled()
 {
-    toggledPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    toggledPulseWidth->setText(QString::number(logExtrema()));
     emit setpointChanged(1, logExtrema());
 }
 
-void SwitchCalibrator::set(const QVector<float> &data)
+void SwitchCalibrator::set(const QVector<uint16_t> &data)
 {
     if (data.size() == 2) {
         defaultPulseWidth->setText(QString::number(data[0]));

src/ui/RadioCalibration/SwitchCalibrator.h

@@ -49,7 +49,7 @@ class SwitchCalibrator : public AbstractCalibrator
 public:
     explicit SwitchCalibrator(QString title=QString(), QWidget *parent = 0);
 
-    void set(const QVector<float> &data);
+    void set(const QVector<uint16_t> &data);
 
 protected slots:
     void setDefault();