From b40f81ba56145fe0566180ef6d90f9ebb2563cd6 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 19 Aug 2013 18:03:48 +0200
Subject: [PATCH] Rock-solid RC calibration, not leaving out any steps

---
 src/ui/QGCPX4VehicleConfig.cc | 36 +++++++++++++++++++++++++++++++----
 src/ui/QGCPX4VehicleConfig.h  |  4 +++-
 2 files changed, 35 insertions(+), 5 deletions(-)

diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index 38ae790c24..4d70c2229f 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -209,6 +209,9 @@ void QGCPX4VehicleConfig::identifyChannelMapping(int aert_index)
 {
     if (chanCount == 0)
         return;
+
+    int oldmapping = rcMapping[aert_index];
+
     channelWanted = aert_index;
 
     for (unsigned i = 0; i < sizeof(channelWantedList) / sizeof(channelWantedList[0]); i++)
@@ -220,6 +223,17 @@ void QGCPX4VehicleConfig::identifyChannelMapping(int aert_index)
         }
     }
 
+    msgBox.setText(tr("Identifying %1 channel").arg(channelNames[channelWanted]));
+    msgBox.setInformativeText(tr("Please move stick, switch or potentiometer for the %1 channel\n all the way up/down or left/right.").arg(channelNames[channelWanted]));
+    msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
+    msgBox.setDefaultButton(QMessageBox::Cancel);
+    if (QMessageBox::Cancel == msgBox.exec())
+    {
+        channelWanted = -1;
+        rcMapping[aert_index] = oldmapping;
+        return;
+    }
+
 }
 
 QGCPX4VehicleConfig::~QGCPX4VehicleConfig()
@@ -289,7 +303,14 @@ void QGCPX4VehicleConfig::detectChannelInversion()
 
 void QGCPX4VehicleConfig::startCalibrationRC()
 {
-    QMessageBox::information(0,"Warning!","You are about to start radio calibration.\nPlease ensure all motor power is disconnected AND all props are removed from the vehicle.\nAlso ensure transmitter and reciever are powered and connected\n\nClick OK to confirm");
+    QMessageBox::warning(0,"Warning!","You are about to start radio calibration.\nPlease ensure all motor power is disconnected AND all props are removed from the vehicle.\nAlso ensure transmitter and receiver are powered and connected\n\nDo not move the RC sticks, then click OK to confirm");
+
+    for (int i = 0; i < 5; i++) {
+        identifyChannelMapping(i);
+    }
+
+    QMessageBox::information(0,"Information","Additional channels have not been mapped, but can be mapped in the channel table below.");
+
     QMessageBox::information(0,"Information","Click OK, then move all sticks to their extreme positions, watching the min/max values to ensure you get the most range from your controller. This includes all switches");
     ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
     resetCalibrationRC();
@@ -307,6 +328,7 @@ void QGCPX4VehicleConfig::startCalibrationRC()
 void QGCPX4VehicleConfig::stopCalibrationRC()
 {
     QMessageBox::information(0,"Trims","Ensure all sticks are centeres and throttle is in the downmost position, click OK to continue");
+
     calibrationEnabled = false;
     ui->rcCalibrationButton->setText(tr("Start RC Calibration"));
 
@@ -322,12 +344,19 @@ void QGCPX4VehicleConfig::stopCalibrationRC()
     for (int i=0;i<chanCount;i++)
     {
         if (rcMin[i] > 1350)
+        {
             rcMin[i] = 1000;
+        }
 
         if (rcMax[i] < 1650)
+        {
             rcMax[i] = 2000;
+        }
     }
 
+    qDebug() << "SETTING TRIM";
+    setTrimPositions();
+
     QString statusstr;
     statusstr = "Below you will find the detected radio calibration information that will be sent to the autopilot\n";
     statusstr += "Normal values are around 1100 to 1900, with disconnected channels reading 1000, 1500, 2000\n\n";
@@ -338,6 +367,8 @@ void QGCPX4VehicleConfig::stopCalibrationRC()
         statusstr += QString::number(i) +"\t"+ QString::number(rcMin[i]) +"\t"+ QString::number(rcValue[i]) +"\t"+ QString::number(rcMax[i]) +"\n";
     }
     QMessageBox::information(0,"Status",statusstr);
+
+
 }
 
 void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
@@ -1038,8 +1069,6 @@ void QGCPX4VehicleConfig::writeCalibrationRC()
 {
     if (!mav) return;
 
-    setTrimPositions();
-
     QString minTpl("RC%1_MIN");
     QString maxTpl("RC%1_MAX");
     QString trimTpl("RC%1_TRIM");
@@ -1128,7 +1157,6 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)
             channelWanted = -1;
 
             // Confirm found channel
-            QMessageBox msgBox;
             msgBox.setText(tr("%1 Channel found.").arg(channelNames[chanFound]));
             msgBox.setInformativeText(tr("Found %1 to be on the raw RC channel %2").arg(channelNames[chanFound]).arg(chan + 1));
             msgBox.setStandardButtons(QMessageBox::Ok);
diff --git a/src/ui/QGCPX4VehicleConfig.h b/src/ui/QGCPX4VehicleConfig.h
index 83b85c927e..f9727d8da7 100644
--- a/src/ui/QGCPX4VehicleConfig.h
+++ b/src/ui/QGCPX4VehicleConfig.h
@@ -7,6 +7,7 @@
 #include <QGroupBox>
 #include <QPushButton>
 #include <QStringList>
+#include <QMessageBox>
 
 #include "QGCToolWidget.h"
 #include "UASInterface.h"
@@ -209,7 +210,7 @@ protected:
     bool doneLoadingConfig;
     UASInterface* mav;                  ///< The current MAV
     QGCUASParamManager* paramMgr;       ///< params mgr for the mav
-    static const unsigned int chanMax = 8;    ///< Maximum number of channels
+    static const unsigned int chanMax = 16;    ///< Maximum number of channels
     unsigned int chanCount;               ///< Actual channels
     int rcType;                         ///< Type of the remote control
     quint64 rcTypeUpdateRequested;      ///< Zero if not requested, non-zero if requested
@@ -252,6 +253,7 @@ protected:
 
     QGCPX4AirframeConfig* px4AirframeConfig;
     DialogBare* firmwareDialog;
+    QMessageBox msgBox;
 
 private:
     Ui::QGCPX4VehicleConfig *ui;
-- 
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