From 07a9ab08f0514800161723c710171451c9f7b0e7 Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Fri, 19 Jul 2013 06:51:16 -0400
Subject: [PATCH] Addition of Retract/Neutral/Control angles to CameraGimbal
 config screen

---
 src/ui/configuration/CameraGimbalConfig.cc |  47 ++++
 src/ui/configuration/CameraGimbalConfig.h  |   4 +-
 src/ui/configuration/CameraGimbalConfig.ui | 239 ++++++++++++++++++++-
 3 files changed, 280 insertions(+), 10 deletions(-)

diff --git a/src/ui/configuration/CameraGimbalConfig.cc b/src/ui/configuration/CameraGimbalConfig.cc
index 9c0b0e4c9..724dd4bc1 100644
--- a/src/ui/configuration/CameraGimbalConfig.cc
+++ b/src/ui/configuration/CameraGimbalConfig.cc
@@ -95,7 +95,54 @@ CameraGimbalConfig::CameraGimbalConfig(QWidget *parent) : AP2ConfigWidget(parent
     connect(ui.shutterDurationSpinBox,SIGNAL(editingFinished()),this,SLOT(updateShutter()));
     connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
 
+    connect(ui.retractXSpinBox,SIGNAL(editingFinished()),this,SLOT(updateRetractAngles()));
+    connect(ui.retractYSpinBox,SIGNAL(editingFinished()),this,SLOT(updateRetractAngles()));
+    connect(ui.retractZSpinBox,SIGNAL(editingFinished()),this,SLOT(updateRetractAngles()));
 
+    connect(ui.controlXSpinBox,SIGNAL(editingFinished()),this,SLOT(updateControlAngles()));
+    connect(ui.controlYSpinBox,SIGNAL(editingFinished()),this,SLOT(updateControlAngles()));
+    connect(ui.controlZSpinBox,SIGNAL(editingFinished()),this,SLOT(updateControlAngles()));
+
+    connect(ui.neutralXSpinBox,SIGNAL(editingFinished()),this,SLOT(updateNeutralAngles()));
+    connect(ui.neutralYSpinBox,SIGNAL(editingFinished()),this,SLOT(updateNeutralAngles()));
+    connect(ui.neutralZSpinBox,SIGNAL(editingFinished()),this,SLOT(updateNeutralAngles()));
+
+
+}
+void CameraGimbalConfig::updateRetractAngles()
+{
+    if (!m_uas)
+    {
+        showNullMAVErrorMessageBox();
+        return;
+    }
+    m_uas->getParamManager()->setParameter(1,"MNT_RETRACT_X",ui.retractXSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_RETRACT_Y",ui.retractYSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_RETRACT_Z",ui.retractZSpinBox->value());
+}
+
+void CameraGimbalConfig::updateNeutralAngles()
+{
+    if (!m_uas)
+    {
+        showNullMAVErrorMessageBox();
+        return;
+    }
+    m_uas->getParamManager()->setParameter(1,"MNT_NEUTRAL_X",ui.neutralXSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_NEUTRAL_Y",ui.neutralYSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_NEUTRAL_Z",ui.neutralZSpinBox->value());
+}
+
+void CameraGimbalConfig::updateControlAngles()
+{
+    if (!m_uas)
+    {
+        showNullMAVErrorMessageBox();
+        return;
+    }
+    m_uas->getParamManager()->setParameter(1,"MNT_CONTROL_X",ui.controlXSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_CONTROL_Y",ui.controlYSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_CONTROL_Z",ui.controlZSpinBox->value());
 }
 
 void CameraGimbalConfig::updateTilt()
diff --git a/src/ui/configuration/CameraGimbalConfig.h b/src/ui/configuration/CameraGimbalConfig.h
index f5d737f19..9f686243f 100644
--- a/src/ui/configuration/CameraGimbalConfig.h
+++ b/src/ui/configuration/CameraGimbalConfig.h
@@ -18,7 +18,9 @@ private slots:
     void updateRoll();
     void updatePan();
     void updateShutter();
-
+    void updateRetractAngles();
+    void updateNeutralAngles();
+    void updateControlAngles();
 private:
     Ui::CameraGimbalConfig ui;
     QString m_shutterPrefix;
diff --git a/src/ui/configuration/CameraGimbalConfig.ui b/src/ui/configuration/CameraGimbalConfig.ui
index 75dec1117..1775b5945 100644
--- a/src/ui/configuration/CameraGimbalConfig.ui
+++ b/src/ui/configuration/CameraGimbalConfig.ui
@@ -123,7 +123,7 @@
     <item row="0" column="3" colspan="2">
      <widget class="QCheckBox" name="tiltStabilizeCheckBox">
       <property name="text">
-       <string>CheckBox</string>
+       <string>Stabilize Tilt</string>
       </property>
      </widget>
     </item>
@@ -191,7 +191,7 @@
        <number>100</number>
       </property>
       <property name="value">
-       <number>-100</number>
+       <number>0</number>
       </property>
      </widget>
     </item>
@@ -297,7 +297,7 @@
     <item row="0" column="3" colspan="2">
      <widget class="QCheckBox" name="rollStabilizeCheckBox">
       <property name="text">
-       <string>CheckBox</string>
+       <string>Stabilize Roll</string>
       </property>
      </widget>
     </item>
@@ -471,7 +471,7 @@
     <item row="0" column="3" colspan="2">
      <widget class="QCheckBox" name="panStabilizeCheckBox">
       <property name="text">
-       <string>CheckBox</string>
+       <string>Stabilize Pan</string>
       </property>
      </widget>
     </item>
@@ -726,15 +726,236 @@
   <widget class="QGroupBox" name="groupBox">
    <property name="geometry">
     <rect>
-     <x>720</x>
-     <y>70</y>
-     <width>120</width>
-     <height>80</height>
+     <x>590</x>
+     <y>60</y>
+     <width>171</width>
+     <height>131</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Retract Angles</string>
+   </property>
+   <layout class="QVBoxLayout" name="verticalLayout_3">
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout">
+        <item>
+         <widget class="QLabel" name="label_33">
+          <property name="text">
+           <string>X</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_41">
+          <property name="text">
+           <string>Y</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_30">
+          <property name="text">
+           <string>Z</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="QSpinBox" name="retractXSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="retractYSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="retractZSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="groupBox_2">
+   <property name="geometry">
+    <rect>
+     <x>590</x>
+     <y>210</y>
+     <width>171</width>
+     <height>131</height>
     </rect>
    </property>
    <property name="title">
-    <string>GroupBox</string>
+    <string>Neutral Angles</string>
    </property>
+   <layout class="QVBoxLayout" name="verticalLayout_4">
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_5">
+        <item>
+         <widget class="QLabel" name="label_42">
+          <property name="text">
+           <string>X</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_43">
+          <property name="text">
+           <string>Y</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_44">
+          <property name="text">
+           <string>Z</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_6">
+        <item>
+         <widget class="QSpinBox" name="neutralXSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="neutralYSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="neutralZSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="groupBox_3">
+   <property name="geometry">
+    <rect>
+     <x>590</x>
+     <y>360</y>
+     <width>171</width>
+     <height>131</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Control Angles</string>
+   </property>
+   <layout class="QVBoxLayout" name="verticalLayout_7">
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_8">
+        <item>
+         <widget class="QLabel" name="label_45">
+          <property name="text">
+           <string>X</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_46">
+          <property name="text">
+           <string>Y</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_47">
+          <property name="text">
+           <string>Z</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_9">
+        <item>
+         <widget class="QSpinBox" name="controlXSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="controlYSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="controlZSpinBox">
+          <property name="minimum">
+           <number>-180</number>
+          </property>
+          <property name="maximum">
+           <number>180</number>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+   </layout>
   </widget>
  </widget>
  <resources>
-- 
2.22.0