QGCVehicleConfig.cc 59.4 KB
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// On Windows (for VS2010) stdint.h contains the limits normally contained in limits.h
// It also needs the __STDC_LIMIT_MACROS macro defined in order to include them (done
// in qgroundcontrol.pri).
#ifdef WIN32
#include <stdint.h>
#else
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#include <limits.h>
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#endif
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#include <QTimer>
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#include <QDir>
#include <QXmlStreamReader>
#include <QMessageBox>
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#include "QGCVehicleConfig.h"
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#include "UASManager.h"
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#include "QGC.h"
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#include "QGCToolWidget.h"
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#include "ui_QGCVehicleConfig.h"

QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
    QWidget(parent),
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    mav(NULL),
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    chanCount(0),
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    rcRoll(0.0f),
    rcPitch(0.0f),
    rcYaw(0.0f),
    rcThrottle(0.0f),
    rcMode(0.0f),
    rcAux1(0.0f),
    rcAux2(0.0f),
    rcAux3(0.0f),
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    changed(true),
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    rc_mode(RC_MODE_NONE),
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    calibrationEnabled(false),
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    ui(new Ui::QGCVehicleConfig)
{
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    doneLoadingConfig = false;
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    systemTypeToParamMap["FIXED_WING"] = new QMap<QString,QGCToolWidget*>();
    systemTypeToParamMap["QUADROTOR"] = new QMap<QString,QGCToolWidget*>();
    systemTypeToParamMap["GROUND_ROVER"] = new QMap<QString,QGCToolWidget*>();
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    systemTypeToParamMap["BOAT"] = new QMap<QString,QGCToolWidget*>();
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    libParamToWidgetMap = new QMap<QString,QGCToolWidget*>();
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    setObjectName("QGC_VEHICLECONFIG");
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    ui->setupUi(this);
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    ui->rollWidget->setOrientation(Qt::Horizontal);
    ui->rollWidget->setName("Roll");
    ui->yawWidget->setOrientation(Qt::Horizontal);
    ui->yawWidget->setName("Yaw");
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    ui->pitchWidget->setName("Pitch");
    ui->throttleWidget->setName("Throttle");
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    ui->radio5Widget->setOrientation(Qt::Horizontal);
    ui->radio5Widget->setName("Radio 5");
    ui->radio6Widget->setOrientation(Qt::Horizontal);
    ui->radio6Widget->setName("Radio 6");
    ui->radio7Widget->setOrientation(Qt::Horizontal);
    ui->radio7Widget->setName("Radio 7");
    ui->radio8Widget->setOrientation(Qt::Horizontal);
    ui->radio8Widget->setName("Radio 8");

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


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    requestCalibrationRC();
    if (mav) mav->requestParameter(0, "RC_TYPE");

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    ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);

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    ui->rcCalibrationButton->setCheckable(true);
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    connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
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    connect(ui->setButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
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    connect(ui->refreshButton,SIGNAL(clicked()),mav,SLOT(requestParameters()));
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    connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
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    //connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));
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    /* Connect RC mapping assignments */
    connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
    connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
    connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
    connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
    connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
    connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
    connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
    connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(int)));

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

    setActiveUAS(UASManager::instance()->getActiveUAS());

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    for (unsigned int i = 0; i < chanMax; i++)
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    {
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        rcValue[i] = UINT16_MAX;
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        rcMapping[i] = i;
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    }

    updateTimer.setInterval(150);
    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
    updateTimer.start();
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    ui->advancedGroupBox->hide();
    connect(ui->advancedCheckBox,SIGNAL(toggled(bool)),ui->advancedGroupBox,SLOT(setShown(bool)));
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}
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void QGCVehicleConfig::rcMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(0);
}

void QGCVehicleConfig::sensorMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(1);
}

void QGCVehicleConfig::generalMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-2);
}

void QGCVehicleConfig::advancedMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-1);
}
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QGCVehicleConfig::~QGCVehicleConfig()
{
    delete ui;
}
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void QGCVehicleConfig::setRCModeIndex(int newRcMode)
{
    if (newRcMode > 0 && newRcMode < 5)
    {
        rc_mode = (enum RC_MODE) (newRcMode+1);
        changed = true;
    }
}
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void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
{
    if (enabled)
    {
        startCalibrationRC();
    }
    else
    {
        stopCalibrationRC();
    }
}

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void QGCVehicleConfig::setTrimPositions()
{
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    // Set trim to min if stick is close to min
    if (abs(rcValue[rcMapping[3]] - rcMin[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMin[rcMapping[3]];   // throttle
    }
    // Set trim to max if stick is close to max
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    else if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100)
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    {
        rcTrim[rcMapping[3]] = rcMax[rcMapping[3]];   // throttle
    }
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    else
    {

        // Reject
        QMessageBox msgBox;
        msgBox.setText(tr("Throttle Stick Trim Position Invalid"));
        msgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        (void)msgBox.exec();
    }

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

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

void QGCVehicleConfig::detectChannelInversion()
{

}

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void QGCVehicleConfig::startCalibrationRC()
{
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    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::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");
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    ui->rcTypeComboBox->setEnabled(false);
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    ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
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    resetCalibrationRC();
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    calibrationEnabled = true;
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    ui->rollWidget->showMinMax();
    ui->pitchWidget->showMinMax();
    ui->yawWidget->showMinMax();
    ui->throttleWidget->showMinMax();
    ui->radio5Widget->showMinMax();
    ui->radio6Widget->showMinMax();
    ui->radio7Widget->showMinMax();
    ui->radio8Widget->showMinMax();
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}

void QGCVehicleConfig::stopCalibrationRC()
{
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    QMessageBox::information(0,"Trims","Ensure all sticks are centeres and throttle is in the downmost position, click OK to continue");
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    calibrationEnabled = false;
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    ui->rcTypeComboBox->setEnabled(true);
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    ui->rcCalibrationButton->setText(tr("Start RC Calibration"));
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    ui->rollWidget->hideMinMax();
    ui->pitchWidget->hideMinMax();
    ui->yawWidget->hideMinMax();
    ui->throttleWidget->hideMinMax();
    ui->radio5Widget->hideMinMax();
    ui->radio6Widget->hideMinMax();
    ui->radio7Widget->hideMinMax();
    ui->radio8Widget->hideMinMax();
    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 very close to 1500\n\n";
    statusstr += "Channel\tMin\tCenter\tMax\n";
    statusstr += "--------------------\n";
    for (int i=0;i<8;i++)
    {
        statusstr += QString::number(i) + "\t" + QString::number(rcMin[i]) + "\t" + QString::number(rcValue[i]) + "\t" + QString::number(rcMax[i]) + "\n";
    }
    QMessageBox::information(0,"Status",statusstr);
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}

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void QGCVehicleConfig::loadQgcConfig(bool primary)
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{
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    Q_UNUSED(primary);
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    QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
    QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
    QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
    if (!autopilotdir.exists("general"))
    {
     //TODO: Throw some kind of error here. There is no general configuration directory
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        qWarning() << "Invalid general dir. no general configuration will be loaded.";
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    }
    if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
    {
        //TODO: Throw an error here too, no autopilot specific configuration
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        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
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    }
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    QGCToolWidget *tool;
    bool left = true;
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    foreach (QString file,generaldir.entryList(QDir::Files | QDir::NoDotAndDotDot))
    {
        if (file.toLower().endsWith(".qgw")) {
            tool = new QGCToolWidget("", this);
            if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
            {
                toolWidgets.append(tool);
                //ui->sensorLayout->addWidget(tool);
                QGroupBox *box = new QGroupBox(this);
                box->setTitle(tool->objectName());
                box->setLayout(new QVBoxLayout());
                box->layout()->addWidget(tool);
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                if (left)
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                {
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                    left = false;
                    ui->leftGeneralLayout->addWidget(box);
                }
                else
                {
                    left = true;
                    ui->rightGeneralLayout->addWidget(box);
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                }
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            } else {
                delete tool;
            }
        }
    }
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    left = true;
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    foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
    {
        if (file.toLower().endsWith(".qgw")) {
            tool = new QGCToolWidget("", this);
            if (tool->loadSettings(vehicledir.absoluteFilePath(file), false))
            {
                toolWidgets.append(tool);
                //ui->sensorLayout->addWidget(tool);
                QGroupBox *box = new QGroupBox(this);
                box->setTitle(tool->objectName());
                box->setLayout(new QVBoxLayout());
                box->layout()->addWidget(tool);
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                if (left)
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                {
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                    left = false;
                    ui->leftAdvancedLayout->addWidget(box);
                }
                else
                {
                    left = true;
                    ui->rightAdvancedLayout->addWidget(box);
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                }
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            } else {
                delete tool;
            }
        }
    }

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    //Load tabs for general configuration
    foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
    {
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        QPushButton *button = new QPushButton(ui->scrollAreaWidgetContents_3);
        connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
        ui->navBarLayout->insertWidget(2,button);
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        button->setMinimumHeight(75);
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        button->setMinimumWidth(100);
        button->show();
        button->setText(dir);
        //QWidget *tab = new QWidget(ui->tabWidget);
        //ui->tabWidget->insertTab(2,tab,dir);
        QWidget *tab = new QWidget(ui->stackedWidget);
        ui->stackedWidget->insertWidget(2,tab);
        buttonToWidgetMap[button] = tab;
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        tab->setLayout(new QVBoxLayout());
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        tab->show();
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        QScrollArea *area = new QScrollArea();
        tab->layout()->addWidget(area);
        QWidget *scrollArea = new QWidget();
        scrollArea->setLayout(new QVBoxLayout());
        area->setWidget(scrollArea);
        area->setWidgetResizable(true);
        area->show();
        scrollArea->show();
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        QDir newdir = QDir(generaldir.absoluteFilePath(dir));
        foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
        {
            if (file.toLower().endsWith(".qgw")) {
                tool = new QGCToolWidget("", this);
                if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                {
                    toolWidgets.append(tool);
                    //ui->sensorLayout->addWidget(tool);
                    QGroupBox *box = new QGroupBox(this);
                    box->setTitle(tool->objectName());
                    box->setLayout(new QVBoxLayout());
                    box->layout()->addWidget(tool);
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                    scrollArea->layout()->addWidget(box);
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                } else {
                    delete tool;
                }
            }
        }
    }

    //Load tabs for vehicle specific configuration
    foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
    {
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        //QWidget *tab = new QWidget(ui->tabWidget);
        //ui->tabWidget->insertTab(2,tab,dir);
        QPushButton *button = new QPushButton(ui->scrollAreaWidgetContents_3);
        connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
        ui->navBarLayout->insertWidget(2,button);

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

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

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        QDir newdir = QDir(vehicledir.absoluteFilePath(dir));
        foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
        {
            if (file.toLower().endsWith(".qgw")) {
                tool = new QGCToolWidget("", this);
                tool->addUAS(mav);
                if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                {
                    toolWidgets.append(tool);
                    //ui->sensorLayout->addWidget(tool);
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                    QGroupBox *box = new QGroupBox();
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                    box->setTitle(tool->objectName());
                    box->setLayout(new QVBoxLayout());
                    box->layout()->addWidget(tool);
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                    scrollArea->layout()->addWidget(box);
                    box->show();
                    //gbox->layout()->addWidget(box);
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                } else {
                    delete tool;
                }
            }
        }
    }
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    // Load calibration
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    //TODO: Handle this more gracefully, maybe have it scan the directory for multiple calibration entries?
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    tool = new QGCToolWidget("", this);
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    tool->addUAS(mav);
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    if (tool->loadSettings(autopilotdir.absolutePath() + "/general/calibration/calibration.qgw", false))
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    {
        toolWidgets.append(tool);
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        QGroupBox *box = new QGroupBox(this);
        box->setTitle(tool->objectName());
        box->setLayout(new QVBoxLayout());
        box->layout()->addWidget(tool);
        ui->sensorLayout->addWidget(box);
    } else {
        delete tool;
    }

    tool = new QGCToolWidget("", this);
    tool->addUAS(mav);
    if (tool->loadSettings(autopilotdir.absolutePath() + "/" +  mav->getSystemTypeName().toLower() + "/calibration/calibration.qgw", false))
    {
        toolWidgets.append(tool);
        QGroupBox *box = new QGroupBox(this);
        box->setTitle(tool->objectName());
        box->setLayout(new QVBoxLayout());
        box->layout()->addWidget(tool);
        ui->sensorLayout->addWidget(box);
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    } else {
        delete tool;
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    }
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    //description.txt
    QFile sensortipsfile(autopilotdir.absolutePath() + "/general/calibration/description.txt");
    sensortipsfile.open(QIODevice::ReadOnly);
    ui->sensorTips->setHtml(sensortipsfile.readAll());
    sensortipsfile.close();
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}
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void QGCVehicleConfig::menuButtonClicked()
{
    QPushButton *button = qobject_cast<QPushButton*>(sender());
    if (!button)
    {
        return;
    }
    if (buttonToWidgetMap.contains(button))
    {
        ui->stackedWidget->setCurrentWidget(buttonToWidgetMap[button]);
    }

}
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void QGCVehicleConfig::loadConfig()
{
    QGCToolWidget* tool;

    QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
    QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
    QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
    if (!autopilotdir.exists("general"))
    {
     //TODO: Throw some kind of error here. There is no general configuration directory
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        qWarning() << "Invalid general dir. no general configuration will be loaded.";
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    }
    if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
    {
        //TODO: Throw an error here too, no autopilot specific configuration
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        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
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    }
    qDebug() << autopilotdir.absolutePath();
    qDebug() << generaldir.absolutePath();
    qDebug() << vehicledir.absolutePath();
    QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml");
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    if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly))
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    {
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        loadQgcConfig(false);
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        doneLoadingConfig = true;
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        return;
    }
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    loadQgcConfig(true);
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    QXmlStreamReader xml(xmlfile.readAll());
    xmlfile.close();
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    //TODO: Testing to ensure that incorrectly formated XML won't break this.
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    while (!xml.atEnd())
    {
        if (xml.isStartElement() && xml.name() == "paramfile")
        {
            xml.readNext();
            while ((xml.name() != "paramfile") && !xml.atEnd())
            {
                QString valuetype = "";
                if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop
                {
                    valuetype = xml.name().toString();
                    xml.readNext();
                    while ((xml.name() != valuetype) && !xml.atEnd())
                    {
                        if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block
                        {
                            QString parametersname = "";
                            if (xml.attributes().hasAttribute("name"))
                            {
                                    parametersname = xml.attributes().value("name").toString();
                            }
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                            QVariantMap genset;
                            QVariantMap advset;

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

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

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

                }

                xml.readNext();
            }
        }
        xml.readNext();
    }
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    mav->getParamManager()->setParamInfo(paramTooltips);
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    doneLoadingConfig = true;
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    mav->requestParameters(); //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
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}

void QGCVehicleConfig::setActiveUAS(UASInterface* active)
{
    // Do nothing if system is the same or NULL
    if ((active == NULL) || mav == active) return;

    if (mav)
    {
        // Disconnect old system
        disconnect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                   SLOT(remoteControlChannelRawChanged(int,float)));
        disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                   SLOT(parameterChanged(int,int,QString,QVariant)));
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        foreach (QGCToolWidget* tool, toolWidgets)
        {
            delete tool;
        }
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        toolWidgets.clear();
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    }

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    // Reset current state
    resetCalibrationRC();

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    chanCount = 0;

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    // Connect new system
    mav = active;
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    connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
               SLOT(remoteControlChannelRawChanged(int,float)));
    connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
               SLOT(parameterChanged(int,int,QString,QVariant)));
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    if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
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    {
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        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
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    }
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    else
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    {
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        //Indication that we have no meta data for this system type.
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        qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
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        systemTypeToParamMap[mav->getSystemTypeName()] = new QMap<QString,QGCToolWidget*>();
        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
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    }

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    if (!paramTooltips.isEmpty())
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    {
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           mav->getParamManager()->setParamInfo(paramTooltips);
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    }

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    qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();
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    //Load configuration after 1ms. This allows it to go into the event loop, and prevents application hangups due to the
    //amount of time it actually takes to load the configuration windows.
    QTimer::singleShot(1,this,SLOT(loadConfig()));
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    updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
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    // Since a system is now connected, enable the VehicleConfig UI.
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    //ui->tabWidget->setEnabled(true);
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    ui->setButton->setEnabled(true);
    ui->refreshButton->setEnabled(true);
    ui->readButton->setEnabled(true);
    ui->writeButton->setEnabled(true);
    ui->loadFileButton->setEnabled(true);
    ui->saveFileButton->setEnabled(true);
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    if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA")
    {
        ui->readButton->hide();
        ui->writeButton->hide();
    }
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}
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void QGCVehicleConfig::resetCalibrationRC()
{
    for (unsigned int i = 0; i < chanMax; ++i)
    {
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        rcMin[i] = 1500;
        rcMax[i] = 1500;
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    }
}

/**
 * Sends the RC calibration to the vehicle and stores it in EEPROM
 */
void QGCVehicleConfig::writeCalibrationRC()
{
    if (!mav) return;

    QString minTpl("RC%1_MIN");
    QString maxTpl("RC%1_MAX");
    QString trimTpl("RC%1_TRIM");
    QString revTpl("RC%1_REV");

    // Do not write the RC type, as these values depend on this
    // active onboard parameter

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    for (unsigned int i = 0; i < chanCount; ++i)
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    {
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        //qDebug() << "SENDING" << minTpl.arg(i+1) << rcMin[i];
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        mav->setParameter(0, minTpl.arg(i+1), rcMin[i]);
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        QGC::SLEEP::usleep(50000);
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        mav->setParameter(0, trimTpl.arg(i+1), rcTrim[i]);
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        QGC::SLEEP::usleep(50000);
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        mav->setParameter(0, maxTpl.arg(i+1), rcMax[i]);
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        QGC::SLEEP::usleep(50000);
        mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1.0f : 1.0f);
        QGC::SLEEP::usleep(50000);
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    }

    // Write mappings
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    mav->setParameter(0, "RC_MAP_ROLL", (int32_t)(rcMapping[0]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_PITCH", (int32_t)(rcMapping[1]+1));
    QGC::SLEEP::usleep(50000);
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    mav->setParameter(0, "RC_MAP_YAW", (int32_t)(rcMapping[2]+1));
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    QGC::SLEEP::usleep(50000);
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    mav->setParameter(0, "RC_MAP_THROTTLE", (int32_t)(rcMapping[3]+1));
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    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_MODE_SW", (int32_t)(rcMapping[4]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_AUX1", (int32_t)(rcMapping[5]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_AUX2", (int32_t)(rcMapping[6]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_AUX3", (int32_t)(rcMapping[7]+1));
    QGC::SLEEP::usleep(50000);
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}

void QGCVehicleConfig::requestCalibrationRC()
{
    if (!mav) return;

    QString minTpl("RC%1_MIN");
    QString maxTpl("RC%1_MAX");
    QString trimTpl("RC%1_TRIM");
    QString revTpl("RC%1_REV");

    // Do not request the RC type, as these values depend on this
    // active onboard parameter

    for (unsigned int i = 0; i < chanMax; ++i)
    {
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        mav->requestParameter(0, minTpl.arg(i+1));
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        QGC::SLEEP::usleep(5000);
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        mav->requestParameter(0, trimTpl.arg(i+1));
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        QGC::SLEEP::usleep(5000);
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        mav->requestParameter(0, maxTpl.arg(i+1));
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        QGC::SLEEP::usleep(5000);
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        mav->requestParameter(0, revTpl.arg(i+1));
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        QGC::SLEEP::usleep(5000);
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    }
}

void QGCVehicleConfig::writeParameters()
{
    updateStatus(tr("Writing all onboard parameters."));
    writeCalibrationRC();
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    mav->writeParametersToStorage();
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}

void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
{
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    // Check if index and values are sane
    if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax || val < 500 || val > 2500)
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        return;

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    if (chan + 1 > (int)chanCount) {
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        chanCount = chan+1;
    }

    // Update calibration data
    if (calibrationEnabled) {
        if (val < rcMin[chan])
        {
            rcMin[chan] = val;
        }

        if (val > rcMax[chan])
        {
            rcMax[chan] = val;
        }
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    }

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    // Raw value
    rcValue[chan] = val;

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    // Normalized value
    float normalized;

    if (val >= rcTrim[chan])
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    {
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        normalized = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
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    }
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    else
    {
        normalized = -(rcTrim[chan] - val)/(rcTrim[chan] - rcMin[chan]);
    }

    // Bound
    normalized = qBound(-1.0f, normalized, 1.0f);
    // Invert
    normalized = (rcRev[chan]) ? -1.0f*normalized : normalized;
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    if (chan == rcMapping[0])
    {
        // ROLL
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        rcRoll = normalized;
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    }
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    if (chan == rcMapping[1])
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    {
        // PITCH
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        rcPitch = normalized;
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    }
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    if (chan == rcMapping[2])
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    {
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        rcYaw = normalized;
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    }
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    if (chan == rcMapping[3])
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    {
        // THROTTLE
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        if (rcRev[chan]) {
            rcThrottle = 1.0f + normalized;
        } else {
            rcThrottle = normalized;
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        }
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        rcThrottle = qBound(0.0f, rcThrottle, 1.0f);
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    }
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    if (chan == rcMapping[4])
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    {
        // MODE SWITCH
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        rcMode = normalized;
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    }
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    if (chan == rcMapping[5])
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    {
        // AUX1
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        rcAux1 = normalized;
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    }
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    if (chan == rcMapping[6])
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    {
        // AUX2
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        rcAux2 = normalized;
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    }
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    if (chan == rcMapping[7])
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    {
        // AUX3
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        rcAux3 = normalized;
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    }

    changed = true;

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    //qDebug() << "RC CHAN:" << chan << "PPM:" << val << "NORMALIZED:" << normalized;
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}

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void QGCVehicleConfig::updateInvertedCheckboxes(int index)
{
    unsigned int mapindex = rcMapping[index];

    switch (mapindex)
    {
    case 0:
        ui->invertCheckBox->setChecked(rcRev[index]);
        break;
    case 1:
        ui->invertCheckBox_2->setChecked(rcRev[index]);
        break;
    case 2:
        ui->invertCheckBox_3->setChecked(rcRev[index]);
        break;
    case 3:
        ui->invertCheckBox_4->setChecked(rcRev[index]);
        break;
    case 4:
        ui->invertCheckBox_5->setChecked(rcRev[index]);
        break;
    case 5:
        ui->invertCheckBox_6->setChecked(rcRev[index]);
        break;
    case 6:
        ui->invertCheckBox_7->setChecked(rcRev[index]);
        break;
    case 7:
        ui->invertCheckBox_8->setChecked(rcRev[index]);
        break;
    }
}

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void QGCVehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
    Q_UNUSED(uas);
    Q_UNUSED(component);
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    if (!doneLoadingConfig)
    {
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        //We do not want to attempt to generate any UI elements until loading of the config file is complete.
        //We should re-request params later if needed, that is not implemented yet.
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        return;
    }
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    if (paramToWidgetMap->contains(parameterName))
    {
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        //Main group of parameters of the selected airframe
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        paramToWidgetMap->value(parameterName)->setParameterValue(uas,component,parameterName,value);
        if (toolToBoxMap.contains(paramToWidgetMap->value(parameterName)))
        {
            toolToBoxMap[paramToWidgetMap->value(parameterName)]->show();
        }
        else
        {
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            qCritical() << "Widget with no box, possible memory corruption for param:" << parameterName;
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        }
    }
    else if (libParamToWidgetMap->contains(parameterName))
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    {
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        //All the library parameters
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        libParamToWidgetMap->value(parameterName)->setParameterValue(uas,component,parameterName,value);
        if (toolToBoxMap.contains(libParamToWidgetMap->value(parameterName)))
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        {
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            toolToBoxMap[libParamToWidgetMap->value(parameterName)]->show();
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        }
        else
        {
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            qCritical() << "Widget with no box, possible memory corruption for param:" << parameterName;
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        }
    }
    else
    {
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        //Param recieved that we have no metadata for. Search to see if it belongs in a
        //group with some other params
1119 1120 1121 1122 1123
        bool found = false;
        for (int i=0;i<toolWidgets.size();i++)
        {
            if (parameterName.startsWith(toolWidgets[i]->objectName()))
            {
1124
                //It should be grouped with this one, add it.
1125
                toolWidgets[i]->addParam(uas,component,parameterName,value);
1126
                libParamToWidgetMap->insert(parameterName,toolWidgets[i]);
1127 1128 1129 1130 1131 1132
                found  = true;
                break;
            }
        }
        if (!found)
        {
1133
            //New param type, create a QGroupBox for it.
1134 1135 1136 1137 1138 1139 1140 1141 1142 1143
            QGCToolWidget *tool = new QGCToolWidget("", this);
            QString tooltitle = parameterName;
            if (parameterName.split("_").size() > 1)
            {
                tooltitle = parameterName.split("_")[0] + "_";
            }
            tool->setTitle(tooltitle);
            tool->setObjectName(tooltitle);
            //tool->setSettings(set);
            tool->addParam(uas,component,parameterName,value);
1144
            libParamToWidgetMap->insert(parameterName,tool);
1145 1146 1147 1148 1149 1150
            toolWidgets.append(tool);
            QGroupBox *box = new QGroupBox(this);
            box->setTitle(tool->objectName());
            box->setLayout(new QVBoxLayout());
            box->layout()->addWidget(tool);

1151 1152 1153

            //Make sure we have similar number of widgets on each side.
            if (ui->leftAdvancedLayout->count() > ui->rightAdvancedLayout->count())
1154
            {
1155
                ui->rightAdvancedLayout->addWidget(box);
1156 1157 1158
            }
            else
            {
1159
                ui->leftAdvancedLayout->addWidget(box);
1160 1161 1162
            }
            toolToBoxMap[tool] = box;
        }
1163
    }
1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179

    // Channel calibration values
    QRegExp minTpl("RC?_MIN");
    minTpl.setPatternSyntax(QRegExp::Wildcard);
    QRegExp maxTpl("RC?_MAX");
    maxTpl.setPatternSyntax(QRegExp::Wildcard);
    QRegExp trimTpl("RC?_TRIM");
    trimTpl.setPatternSyntax(QRegExp::Wildcard);
    QRegExp revTpl("RC?_REV");
    revTpl.setPatternSyntax(QRegExp::Wildcard);

    // Do not write the RC type, as these values depend on this
    // active onboard parameter

    if (minTpl.exactMatch(parameterName)) {
        bool ok;
1180
        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
1181
        //qDebug() << "PARAM:" << parameterName << "index:" << index;
1182
        if (ok && index < chanMax)
1183 1184 1185 1186 1187 1188 1189
        {
            rcMin[index] = value.toInt();
        }
    }

    if (maxTpl.exactMatch(parameterName)) {
        bool ok;
1190 1191
        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && index < chanMax)
1192 1193 1194 1195 1196 1197 1198
        {
            rcMax[index] = value.toInt();
        }
    }

    if (trimTpl.exactMatch(parameterName)) {
        bool ok;
1199 1200
        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && index < chanMax)
1201 1202 1203 1204 1205 1206 1207
        {
            rcTrim[index] = value.toInt();
        }
    }

    if (revTpl.exactMatch(parameterName)) {
        bool ok;
1208 1209
        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && index < chanMax)
1210 1211
        {
            rcRev[index] = (value.toInt() == -1) ? true : false;
1212
            updateInvertedCheckboxes(index);
1213 1214 1215 1216 1217 1218 1219 1220
        }
    }

//        mav->setParameter(0, trimTpl.arg(i), rcTrim[i]);
//        mav->setParameter(0, maxTpl.arg(i), rcMax[i]);
//        mav->setParameter(0, revTpl.arg(i), (rcRev[i]) ? -1 : 1);
//    }

1221 1222 1223 1224 1225 1226 1227 1228
    if (rcTypeUpdateRequested > 0 && parameterName == QString("RC_TYPE"))
    {
        rcTypeUpdateRequested = 0;
        updateStatus(tr("Received RC type update, setting parameters based on model."));
        rcType = value.toInt();
        // Request all other parameters as well
        requestCalibrationRC();
    }
1229 1230 1231 1232

    // Order is: roll, pitch, yaw, throttle, mode sw, aux 1-3

    if (parameterName.contains("RC_MAP_ROLL")) {
1233 1234
        rcMapping[0] = value.toInt() - 1;
        ui->rollSpinBox->setValue(rcMapping[0]+1);
1235
        ui->rollSpinBox->setEnabled(true);
1236 1237 1238
    }

    if (parameterName.contains("RC_MAP_PITCH")) {
1239 1240
        rcMapping[1] = value.toInt() - 1;
        ui->pitchSpinBox->setValue(rcMapping[1]+1);
1241
        ui->pitchSpinBox->setEnabled(true);
1242 1243 1244
    }

    if (parameterName.contains("RC_MAP_YAW")) {
1245 1246
        rcMapping[2] = value.toInt() - 1;
        ui->yawSpinBox->setValue(rcMapping[2]+1);
1247
        ui->yawSpinBox->setEnabled(true);
1248 1249 1250
    }

    if (parameterName.contains("RC_MAP_THROTTLE")) {
1251 1252
        rcMapping[3] = value.toInt() - 1;
        ui->throttleSpinBox->setValue(rcMapping[3]+1);
1253
        ui->throttleSpinBox->setEnabled(true);
1254 1255 1256
    }

    if (parameterName.contains("RC_MAP_MODE_SW")) {
1257 1258
        rcMapping[4] = value.toInt() - 1;
        ui->modeSpinBox->setValue(rcMapping[4]+1);
1259
        ui->modeSpinBox->setEnabled(true);
1260 1261 1262
    }

    if (parameterName.contains("RC_MAP_AUX1")) {
1263 1264
        rcMapping[5] = value.toInt() - 1;
        ui->aux1SpinBox->setValue(rcMapping[5]+1);
1265
        ui->aux1SpinBox->setEnabled(true);
1266 1267 1268
    }

    if (parameterName.contains("RC_MAP_AUX2")) {
1269
        rcMapping[6] = value.toInt() - 1;
1270
        ui->aux2SpinBox->setValue(rcMapping[6]+1);
1271
        ui->aux2SpinBox->setEnabled(true);
1272 1273 1274
    }

    if (parameterName.contains("RC_MAP_AUX3")) {
1275
        rcMapping[7] = value.toInt() - 1;
1276
        ui->aux3SpinBox->setValue(rcMapping[7]+1);
1277
        ui->aux3SpinBox->setEnabled(true);
1278 1279 1280 1281 1282
    }

    // Scaling

    if (parameterName.contains("RC_SCALE_ROLL")) {
1283
        rcScaling[0] = value.toFloat();
1284 1285 1286
    }

    if (parameterName.contains("RC_SCALE_PITCH")) {
1287
        rcScaling[1] = value.toFloat();
1288 1289 1290
    }

    if (parameterName.contains("RC_SCALE_YAW")) {
1291
        rcScaling[2] = value.toFloat();
1292 1293 1294
    }

    if (parameterName.contains("RC_SCALE_THROTTLE")) {
1295
        rcScaling[3] = value.toFloat();
1296 1297 1298
    }

    if (parameterName.contains("RC_SCALE_MODE_SW")) {
1299
        rcScaling[4] = value.toFloat();
1300 1301 1302
    }

    if (parameterName.contains("RC_SCALE_AUX1")) {
1303
        rcScaling[5] = value.toFloat();
1304 1305 1306
    }

    if (parameterName.contains("RC_SCALE_AUX2")) {
1307
        rcScaling[6] = value.toFloat();
1308 1309 1310
    }

    if (parameterName.contains("RC_SCALE_AUX3")) {
1311
        rcScaling[7] = value.toFloat();
1312
    }
1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352
}

void QGCVehicleConfig::updateStatus(const QString& str)
{
    ui->statusLabel->setText(str);
    ui->statusLabel->setStyleSheet("");
}

void QGCVehicleConfig::updateError(const QString& str)
{
    ui->statusLabel->setText(str);
    ui->statusLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name()));
}

void QGCVehicleConfig::setRCType(int type)
{
    if (!mav) return;

    // XXX TODO Add handling of RC_TYPE vs non-RC_TYPE here

    mav->setParameter(0, "RC_TYPE", type);
    rcTypeUpdateRequested = QGC::groundTimeMilliseconds();
    QTimer::singleShot(rcTypeTimeout+100, this, SLOT(checktimeOuts()));
}

void QGCVehicleConfig::checktimeOuts()
{
    if (rcTypeUpdateRequested > 0)
    {
        if (QGC::groundTimeMilliseconds() - rcTypeUpdateRequested > rcTypeTimeout)
        {
            updateError(tr("Setting remote control timed out - is the system connected?"));
        }
    }
}

void QGCVehicleConfig::updateView()
{
    if (changed)
    {
1353 1354
        if (rc_mode == RC_MODE_1)
        {
1355 1356 1357 1358
            //ui->rollSlider->setValue(rcRoll * 50 + 50);
            //ui->pitchSlider->setValue(rcThrottle * 100);
            //ui->yawSlider->setValue(rcYaw * 50 + 50);
            //ui->throttleSlider->setValue(rcPitch * 50 + 50);
1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371
            ui->rollWidget->setValue(rcValue[0]);
            ui->throttleWidget->setValue(rcValue[1]);
            ui->yawWidget->setValue(rcValue[2]);
            ui->pitchWidget->setValue(rcValue[3]);

            ui->rollWidget->setMin(rcMin[0]);
            ui->rollWidget->setMax(rcMax[0]);
            ui->throttleWidget->setMin(rcMin[1]);
            ui->throttleWidget->setMax(rcMax[1]);
            ui->yawWidget->setMin(rcMin[2]);
            ui->yawWidget->setMax(rcMax[2]);
            ui->pitchWidget->setMin(rcMin[3]);
            ui->pitchWidget->setMax(rcMax[3]);
1372 1373 1374
        }
        else if (rc_mode == RC_MODE_2)
        {
1375 1376 1377 1378
            //ui->rollSlider->setValue(rcRoll * 50 + 50);
            //ui->pitchSlider->setValue(rcPitch * 50 + 50);
            //ui->yawSlider->setValue(rcYaw * 50 + 50);
            //ui->throttleSlider->setValue(rcThrottle * 100);
1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391
            ui->rollWidget->setValue(rcValue[0]);
            ui->pitchWidget->setValue(rcValue[1]);
            ui->yawWidget->setValue(rcValue[2]);
            ui->throttleWidget->setValue(rcValue[3]);

            ui->rollWidget->setMin(rcMin[0]);
            ui->rollWidget->setMax(rcMax[0]);
            ui->pitchWidget->setMin(rcMin[1]);
            ui->pitchWidget->setMax(rcMax[1]);
            ui->yawWidget->setMin(rcMin[2]);
            ui->yawWidget->setMax(rcMax[2]);
            ui->throttleWidget->setMin(rcMin[3]);
            ui->throttleWidget->setMax(rcMax[3]);
1392 1393 1394
        }
        else if (rc_mode == RC_MODE_3)
        {
1395 1396 1397 1398
            //ui->rollSlider->setValue(rcYaw * 50 + 50);
            //ui->pitchSlider->setValue(rcThrottle * 100);
            //ui->yawSlider->setValue(rcRoll * 50 + 50);
            //ui->throttleSlider->setValue(rcPitch * 50 + 50);
1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411
            ui->yawWidget->setValue(rcValue[0]);
            ui->throttleWidget->setValue(rcValue[1]);
            ui->rollWidget->setValue(rcValue[2]);
            ui->pitchWidget->setValue(rcValue[3]);

            ui->yawWidget->setMin(rcMin[0]);
            ui->yawWidget->setMax(rcMax[0]);
            ui->throttleWidget->setMin(rcMin[1]);
            ui->throttleWidget->setMax(rcMax[1]);
            ui->rollWidget->setMin(rcMin[2]);
            ui->rollWidget->setMax(rcMax[2]);
            ui->pitchWidget->setMin(rcMin[3]);
            ui->pitchWidget->setMax(rcMax[3]);
1412 1413 1414
        }
        else if (rc_mode == RC_MODE_4)
        {
1415 1416 1417 1418
            //ui->rollSlider->setValue(rcYaw * 50 + 50);
            //ui->pitchSlider->setValue(rcPitch * 50 + 50);
            //ui->yawSlider->setValue(rcRoll * 50 + 50);
            //ui->throttleSlider->setValue(rcThrottle * 100);
1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447
            ui->yawWidget->setValue(rcValue[0]);
            ui->pitchWidget->setValue(rcValue[1]);
            ui->rollWidget->setValue(rcValue[2]);
            ui->throttleWidget->setValue(rcValue[3]);

            ui->yawWidget->setMin(rcMin[0]);
            ui->yawWidget->setMax(rcMax[0]);
            ui->pitchWidget->setMin(rcMin[1]);
            ui->pitchWidget->setMax(rcMax[1]);
            ui->rollWidget->setMin(rcMin[2]);
            ui->rollWidget->setMax(rcMax[2]);
            ui->throttleWidget->setMin(rcMin[3]);
            ui->throttleWidget->setMax(rcMax[3]);
        }
        else if (rc_mode == RC_MODE_NONE)
        {
            ui->rollWidget->setValue(rcValue[0]);
            ui->pitchWidget->setValue(rcValue[1]);
            ui->throttleWidget->setValue(rcValue[2]);
            ui->yawWidget->setValue(rcValue[3]);

            ui->rollWidget->setMin(rcMin[0]);
            ui->rollWidget->setMax(rcMax[0]);
            ui->pitchWidget->setMin(rcMin[1]);
            ui->pitchWidget->setMax(rcMax[1]);
            ui->throttleWidget->setMin(rcMin[2]);
            ui->throttleWidget->setMax(rcMax[2]);
            ui->yawWidget->setMin(rcMin[3]);
            ui->yawWidget->setMax(rcMax[3]);
1448 1449
        }

1450 1451 1452 1453
        ui->chanLabel->setText(QString("%1/%2").arg(rcValue[rcMapping[0]]).arg(rcRoll, 5, 'f', 2, QChar(' ')));
        ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[rcMapping[1]]).arg(rcPitch, 5, 'f', 2, QChar(' ')));
        ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[rcMapping[2]]).arg(rcYaw, 5, 'f', 2, QChar(' ')));
        ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[rcMapping[3]]).arg(rcThrottle, 5, 'f', 2, QChar(' ')));
1454

1455 1456 1457


        //ui->modeSwitchSlider->setValue(rcMode * 50 + 50);
1458
        ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[rcMapping[4]]).arg(rcMode, 5, 'f', 2, QChar(' ')));
1459

1460 1461 1462 1463 1464 1465 1466
        if (rcValue[rcMapping[4] != UINT16_MAX]) {
            ui->radio5Widget->setValue(rcValue[4]);
            ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[rcMapping[5]]).arg(rcAux1, 5, 'f', 2, QChar(' ')));
        } else {
            ui->chanLabel_5->setText(tr("---"));
        }

1467
        if (rcValue[rcMapping[5]] != UINT16_MAX) {
1468
            //ui->aux1Slider->setValue(rcAux1 * 50 + 50);
1469
            ui->radio5Widget->setValue(rcValue[5]);
1470
            ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[rcMapping[5]]).arg(rcAux1, 5, 'f', 2, QChar(' ')));
1471 1472 1473 1474
        } else {
            ui->chanLabel_6->setText(tr("---"));
        }

1475
        if (rcValue[rcMapping[6]] != UINT16_MAX) {
1476
            //ui->aux2Slider->setValue(rcAux2 * 50 + 50);
1477
            ui->radio6Widget->setValue(rcValue[6]);
1478
            ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[rcMapping[6]]).arg(rcAux2, 5, 'f', 2, QChar(' ')));
1479 1480 1481 1482
        } else {
            ui->chanLabel_7->setText(tr("---"));
        }

1483
        if (rcValue[rcMapping[7]] != UINT16_MAX) {
1484
            //ui->aux3Slider->setValue(rcAux3 * 50 + 50);
1485
            ui->radio7Widget->setValue(rcValue[7]);
1486
            ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[rcMapping[7]]).arg(rcAux3, 5, 'f', 2, QChar(' ')));
1487 1488
        } else {
            ui->chanLabel_8->setText(tr("---"));
1489 1490
        }

1491 1492 1493
        changed = false;
    }
}