Update UI

Add gimbal to external control signal

qgcresources.qrc

@@ -56,7 +56,6 @@
         <file alias="px4.png">resources/firmware/px4.png</file>
     </qresource>
     <qresource prefix="/res/calibration">
-        <file alias="joystick.svg">resources/calibration/joystick/joystick.svg</file>
         <file alias="accel_back.png">resources/calibration/accel_back.png</file>
         <file alias="accel_down.png">resources/calibration/accel_down.png</file>
         <file alias="accel_front.png">resources/calibration/accel_front.png</file>
@@ -99,48 +98,4 @@
     <qresource prefix="/opengl">
         <file>resources/opengl/buglist.json</file>
     </qresource>
-    <qresource prefix="/qml/calibration/joystick/mode1">
-        <file alias="joystickCenter.png">resources/calibration/joystick/mode1/joystickCenter.png</file>
-        <file alias="joystickPitchDown.png">resources/calibration/joystick/mode1/joystickPitchDown.png</file>
-        <file alias="joystickPitchUp.png">resources/calibration/joystick/mode1/joystickPitchUp.png</file>
-        <file alias="joystickRollLeft.png">resources/calibration/joystick/mode1/joystickRollLeft.png</file>
-        <file alias="joystickRollRight.png">resources/calibration/joystick/mode1/joystickRollRight.png</file>
-        <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode1/joystickThrottleDown.png</file>
-        <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode1/joystickThrottleUp.png</file>
-        <file alias="joystickYawLeft.png">resources/calibration/joystick/mode1/joystickYawLeft.png</file>
-        <file alias="joystickYawRight.png">resources/calibration/joystick/mode1/joystickYawRight.png</file>
-    </qresource>
-    <qresource prefix="/qml/calibration/joystick/mode2">
-        <file alias="joystickCenter.png">resources/calibration/joystick/mode2/joystickCenter.png</file>
-        <file alias="joystickPitchDown.png">resources/calibration/joystick/mode2/joystickPitchDown.png</file>
-        <file alias="joystickPitchUp.png">resources/calibration/joystick/mode2/joystickPitchUp.png</file>
-        <file alias="joystickRollLeft.png">resources/calibration/joystick/mode2/joystickRollLeft.png</file>
-        <file alias="joystickRollRight.png">resources/calibration/joystick/mode2/joystickRollRight.png</file>
-        <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode2/joystickThrottleDown.png</file>
-        <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode2/joystickThrottleUp.png</file>
-        <file alias="joystickYawLeft.png">resources/calibration/joystick/mode2/joystickYawLeft.png</file>
-        <file alias="joystickYawRight.png">resources/calibration/joystick/mode2/joystickYawRight.png</file>
-    </qresource>
-    <qresource prefix="/qml/calibration/joystick/mode3">
-        <file alias="joystickCenter.png">resources/calibration/joystick/mode3/joystickCenter.png</file>
-        <file alias="joystickPitchDown.png">resources/calibration/joystick/mode3/joystickPitchDown.png</file>
-        <file alias="joystickPitchUp.png">resources/calibration/joystick/mode3/joystickPitchUp.png</file>
-        <file alias="joystickRollLeft.png">resources/calibration/joystick/mode3/joystickRollLeft.png</file>
-        <file alias="joystickRollRight.png">resources/calibration/joystick/mode3/joystickRollRight.png</file>
-        <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode3/joystickThrottleDown.png</file>
-        <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode3/joystickThrottleUp.png</file>
-        <file alias="joystickYawLeft.png">resources/calibration/joystick/mode3/joystickYawLeft.png</file>
-        <file alias="joystickYawRight.png">resources/calibration/joystick/mode3/joystickYawRight.png</file>
-    </qresource>
-    <qresource prefix="/qml/calibration/joystick/mode4">
-        <file alias="joystickCenter.png">resources/calibration/joystick/mode4/joystickCenter.png</file>
-        <file alias="joystickPitchDown.png">resources/calibration/joystick/mode4/joystickPitchDown.png</file>
-        <file alias="joystickPitchUp.png">resources/calibration/joystick/mode4/joystickPitchUp.png</file>
-        <file alias="joystickRollLeft.png">resources/calibration/joystick/mode4/joystickRollLeft.png</file>
-        <file alias="joystickRollRight.png">resources/calibration/joystick/mode4/joystickRollRight.png</file>
-        <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode4/joystickThrottleDown.png</file>
-        <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode4/joystickThrottleUp.png</file>
-        <file alias="joystickYawLeft.png">resources/calibration/joystick/mode4/joystickYawLeft.png</file>
-        <file alias="joystickYawRight.png">resources/calibration/joystick/mode4/joystickYawRight.png</file>
-    </qresource>
 </RCC>

qgroundcontrol.qrc

@@ -38,6 +38,10 @@
         <file alias="HealthPageWidget.qml">src/FlightMap/Widgets/HealthPageWidget.qml</file>
         <file alias="HelpSettings.qml">src/ui/preferences/HelpSettings.qml</file>
         <file alias="JoystickConfig.qml">src/VehicleSetup/JoystickConfig.qml</file>
+        <file alias="JoystickConfigButtons.qml">src/VehicleSetup/JoystickConfigButtons.qml</file>
+        <file alias="JoystickConfigAdvanced.qml">src/VehicleSetup/JoystickConfigAdvanced.qml</file>
+        <file alias="JoystickConfigGeneral.qml">src/VehicleSetup/JoystickConfigGeneral.qml</file>
+        <file alias="JoystickConfigCalibration.qml">src/VehicleSetup/JoystickConfigCalibration.qml</file>
         <file alias="LinkSettings.qml">src/ui/preferences/LinkSettings.qml</file>
         <file alias="LogDownloadPage.qml">src/AnalyzeView/LogDownloadPage.qml</file>
         <file alias="LogReplaySettings.qml">src/ui/preferences/LogReplaySettings.qml</file>
@@ -60,6 +64,7 @@
         <file alias="QGCViewDialogContainer.qml">src/QmlControls/QGCViewDialogContainer.qml</file>
         <file alias="QGroundControl/Controls/AnalyzePage.qml">src/AnalyzeView/AnalyzePage.qml</file>
         <file alias="QGroundControl/Controls/AppMessages.qml">src/QmlControls/AppMessages.qml</file>
+        <file alias="QGroundControl/Controls/AxisMonitor.qml">src/QmlControls/AxisMonitor.qml</file>
         <file alias="QGroundControl/Controls/CameraCalc.qml">src/PlanView/CameraCalc.qml</file>
         <file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
         <file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>

src/Joystick/Joystick.cc

@@ -684,11 +684,9 @@ QString Joystick::getButtonAction(int button)
 QVariantList Joystick::buttonActions(void)
 {
     QVariantList list;
-
     for (int button=0; button<_totalButtonCount; button++) {
         list += QVariant::fromValue(_rgButtonActions[button]);
     }
-
     return list;
 }
 
@@ -703,13 +701,10 @@ void Joystick::setThrottleMode(int mode)
         qCWarning(JoystickLog) << "Invalid throttle mode" << mode;
         return;
     }
-
-    _throttleMode = (ThrottleMode_t)mode;
-
+    _throttleMode = static_cast<ThrottleMode_t>(mode);
     if (_throttleMode == ThrottleModeDownZero) {
         setAccumulator(false);
     }
-
     _saveSettings();
     emit throttleModeChanged(_throttleMode);
 }
@@ -725,7 +720,6 @@ void Joystick::setNegativeThrust(bool allowNegative)
         return;
     }
     _negativeThrust = allowNegative;
-
     _saveSettings();
     emit negativeThrustChanged(_negativeThrust);
 }
@@ -738,7 +732,6 @@ float Joystick::exponential(void)
 void Joystick::setExponential(float expo)
 {
     _exponential = expo;
-
     _saveSettings();
     emit exponentialChanged(_exponential);
 }
@@ -751,7 +744,6 @@ bool Joystick::accumulator(void)
 void Joystick::setAccumulator(bool accu)
 {
     _accumulator = accu;
-
     _saveSettings();
     emit accumulatorChanged(_accumulator);
 }
@@ -764,7 +756,6 @@ bool Joystick::deadband(void)
 void Joystick::setDeadband(bool deadband)
 {
     _deadband = deadband;
-
     _saveSettings();
 }
 
@@ -776,7 +767,6 @@ bool Joystick::circleCorrection(void)
 void Joystick::setCircleCorrection(bool circleCorrection)
 {
     _circleCorrection = circleCorrection;
-
     _saveSettings();
     emit circleCorrectionChanged(_circleCorrection);
 }
@@ -799,7 +789,6 @@ void Joystick::setFrequency(float val)
 void Joystick::setCalibrationMode(bool calibrating)
 {
     _calibrationMode = calibrating;
-
     if (calibrating && !isRunning()) {
         _pollingStartedForCalibration = true;
         startPolling(_multiVehicleManager->activeVehicle());
@@ -815,7 +804,6 @@ void Joystick::_buttonAction(const QString& action)
     if (!_activeVehicle || !_activeVehicle->joystickEnabled()) {
         return;
     }
-
     if (action == _buttonActionArm) {
         _activeVehicle->setArmed(true);
     } else if (action == _buttonActionDisarm) {

src/QmlControls/AxisMonitor.qml

+import QtQuick                      2.11
+import QtQuick.Controls             2.4
+
+import QGroundControl               1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+
+Item {
+    property int    axisValue:          0
+    property int    deadbandValue:      0
+    property bool   narrowIndicator:    false
+    property color  deadbandColor:      "#8c161a"
+    property bool   mapped:             false
+    property bool   reversed:           false
+
+    property color  __barColor:         qgcPal.windowShade
+
+    // Bar
+    Rectangle {
+        id:                     bar
+        anchors.verticalCenter: parent.verticalCenter
+        width:                  parent.width
+        height:                 parent.height / 2
+        color:                  __barColor
+    }
+
+    // Deadband
+    Rectangle {
+        id:                     deadbandBar
+        anchors.verticalCenter: parent.verticalCenter
+        x:                      _deadbandPosition
+        width:                  _deadbandWidth
+        height:                 parent.height / 2
+        color:                  deadbandColor
+        visible:                controller.deadbandToggle
+
+        property real _percentDeadband:     ((2 * deadbandValue) / (32768.0 * 2))
+        property real _deadbandWidth:       parent.width * _percentDeadband
+        property real _deadbandPosition:    (parent.width - _deadbandWidth) / 2
+    }
+
+    // Center point
+    Rectangle {
+        anchors.horizontalCenter:   parent.horizontalCenter
+        width:                      ScreenTools.defaultFontPixelWidth / 2
+        height:                     parent.height
+        color:                      qgcPal.window
+    }
+
+    // Indicator
+    Rectangle {
+        anchors.verticalCenter: parent.verticalCenter
+        width:                  parent.narrowIndicator ?  height/6 : height
+        height:                 parent.height * 0.75
+        x:                      (reversed ? (parent.width - _indicatorPosition) : _indicatorPosition) - (width / 2)
+        radius:                 width / 2
+        color:                  qgcPal.text
+        visible:                mapped
+
+        property real _percentAxisValue:    ((axisValue + 32768.0) / (32768.0 * 2))
+        property real _indicatorPosition:   parent.width * _percentAxisValue
+    }
+
+    QGCLabel {
+        anchors.fill:           parent
+        horizontalAlignment:    Text.AlignHCenter
+        verticalAlignment:      Text.AlignVCenter
+        text:                   qsTr("Not Mapped")
+        visible:                !mapped
+    }
+
+    ColorAnimation {
+        id:         barAnimation
+        target:     bar
+        property:   "color"
+        from:       "yellow"
+        to:         __barColor
+        duration:   1500
+    }
+
+    // Axis value debugger
+    /*
+    QGCLabel {
+        anchors.fill: parent
+        text: axisValue
+    }
+    */
+
+}

src/QmlControls/QGroundControl/Controls/qmldir

@@ -2,6 +2,7 @@ Module QGroundControl.Controls
 
 AnalyzePage             1.0 AnalyzePage.qml
 AppMessages             1.0 AppMessages.qml
+AxisMonitor             1.0 AxisMonitor.qml
 CameraCalc              1.0 CameraCalc.qml
 APMSubMotorDisplay      1.0 APMSubMotorDisplay.qml
 CameraSection           1.0 CameraSection.qml

src/Vehicle/Vehicle.cc

@@ -2741,11 +2741,18 @@ void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
     }
 }
 
-void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
+void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust, double gimbalPitch, double gimbalYaw)
 {
     // The following if statement prevents the virtualTabletJoystick from sending values if the standard joystick is enabled
     if ( !_joystickEnabled && !_highLatencyLink) {
-        _uas->setExternalControlSetpoint(roll, pitch, yaw, thrust, 0, JoystickModeRC);
+        _uas->setExternalControlSetpoint(
+            static_cast<float>(roll),
+            static_cast<float>(pitch),
+            static_cast<float>(yaw),
+            static_cast<float>(thrust),
+            static_cast<float>(gimbalPitch),
+            static_cast<float>(gimbalYaw),
+            0, JoystickModeRC);
     }
 }
 

src/Vehicle/Vehicle.h

@@ -697,7 +697,7 @@ public:
     // Called when the message drop-down is invoked to clear current count
     Q_INVOKABLE void        resetMessages();
 
-    Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
+    Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust, double gimbalPitch = 0, double gimbalYaw = 0);
     Q_INVOKABLE void disconnectInactiveVehicle(void);
 
     /// Command vehicle to return to launch

src/VehicleSetup/JoystickConfigAdvanced.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick                      2.11
+import QtQuick.Controls             2.4
+import QtQuick.Dialogs              1.3
+import QtQuick.Layouts              1.11
+
+import QGroundControl               1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controllers   1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+
+Item {
+    width:                  grid.width  + (ScreenTools.defaultFontPixelWidth  * 2)
+    height:                 grid.height + (ScreenTools.defaultFontPixelHeight * 2)
+    //---------------------------------------------------------------------
+    GridLayout {
+        id:                 grid
+        columns:            2
+        columnSpacing:      ScreenTools.defaultFontPixelWidth
+        rowSpacing:         ScreenTools.defaultFontPixelHeight
+        anchors.centerIn:   parent
+        //-------------------------------------------------------------
+        //-------------------------------------------------------------
+        QGCRadioButton {
+            text:               qsTr("Full down stick is zero throttle")
+            checked:            _activeJoystick ? _activeJoystick.throttleMode === 1 : false
+            onClicked:          _activeJoystick.throttleMode = 1
+            Layout.columnSpan:  2
+        }
+        QGCRadioButton {
+            text:               qsTr("Center stick is zero throttle")
+            checked:            _activeJoystick ? _activeJoystick.throttleMode === 0 : false
+            onClicked:          _activeJoystick.throttleMode = 0
+            Layout.columnSpan:  2
+        }
+        //-------------------------------------------------------------
+        QGCLabel {
+            text:               qsTr("Spring loaded throttle smoothing")
+            visible:            _activeJoystick ? _activeJoystick.throttleMode === 0 : false
+            Layout.alignment:   Qt.AlignVCenter
+            Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 36
+        }
+        QGCCheckBox {
+            checked:            _activeJoystick ? _activeJoystick.accumulator : false
+            visible:            _activeJoystick ? _activeJoystick.throttleMode === 0 : false
+            onClicked:          _activeJoystick.accumulator = checked
+        }
+        //-------------------------------------------------------------
+        QGCLabel {
+            text:               qsTr("Allow negative Thrust")
+            visible:            activeVehicle.supportsNegativeThrust
+            Layout.alignment:   Qt.AlignVCenter
+        }
+        QGCCheckBox {
+            visible:            activeVehicle.supportsNegativeThrust
+            enabled:            _activeJoystick.negativeThrust = activeVehicle.supportsNegativeThrust
+            checked:            _activeJoystick ? _activeJoystick.negativeThrust : false
+            onClicked:          _activeJoystick.negativeThrust = checked
+        }
+        //---------------------------------------------------------------------
+        QGCLabel {
+            text:               qsTr("Exponential:")
+        }
+        Row {
+            spacing:            ScreenTools.defaultFontPixelWidth
+            QGCSlider {
+                id:             expoSlider
+                width:          ScreenTools.defaultFontPixelWidth * 20
+                minimumValue:   0
+                maximumValue:   0.75
+                Component.onCompleted: value = -_activeJoystick.exponential
+                onValueChanged: _activeJoystick.exponential = -value
+             }
+            QGCLabel {
+                id:     expoSliderIndicator
+                text:   expoSlider.value.toFixed(2)
+            }
+        }
+        //-----------------------------------------------------------------
+        //-- Enable Advanced Mode
+        QGCLabel {
+            text:               qsTr("Enable further advanced settings (careful!)")
+            Layout.alignment:   Qt.AlignVCenter
+            Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 36
+        }
+        QGCCheckBox {
+            id:         advancedSettings
+            checked:    activeVehicle.joystickMode !== 0
+            onClicked: {
+                if (!checked) {
+                    activeVehicle.joystickMode = 0
+                }
+            }
+        }
+        //-----------------------------------------------------------------
+        //-- Mode
+        QGCLabel {
+            Layout.alignment:   Qt.AlignVCenter
+            text:               qsTr("Joystick mode:")
+            visible:            advancedSettings.checked
+        }
+        QGCComboBox {
+            enabled:            advancedSettings.checked
+            currentIndex:       activeVehicle.joystickMode
+            width:              ScreenTools.defaultFontPixelWidth * 20
+            model:              activeVehicle.joystickModes
+            onActivated:        activeVehicle.joystickMode = index
+            Layout.alignment:   Qt.AlignVCenter
+            visible:            advancedSettings.checked
+        }
+        //-----------------------------------------------------------------
+        //-- Message Frequency
+        QGCLabel {
+            text:               qsTr("Message frequency (Hz):")
+            Layout.alignment:   Qt.AlignVCenter
+            visible:            advancedSettings.checked
+        }
+        QGCTextField {
+            text:               _activeJoystick.frequency
+            enabled:            advancedSettings.checked
+            validator:          DoubleValidator { bottom: 0.25; top: 100.0; }
+            inputMethodHints:   Qt.ImhFormattedNumbersOnly
+            Layout.alignment:   Qt.AlignVCenter
+            onEditingFinished: {
+                _activeJoystick.frequency = parseFloat(text)
+            }
+            visible:            advancedSettings.checked
+        }
+        //-----------------------------------------------------------------
+        //-- Enable circle correction
+        QGCLabel {
+            text:               qsTr("Enable circle correction")
+            Layout.alignment:   Qt.AlignVCenter
+            visible:            advancedSettings.checked
+        }
+        QGCCheckBox {
+            checked:            activeVehicle.joystickMode !== 0
+            enabled:            advancedSettings.checked
+            Component.onCompleted: {
+                checked = _activeJoystick.circleCorrection
+            }
+            onClicked: {
+                _activeJoystick.circleCorrection = checked
+            }
+            visible:            advancedSettings.checked
+        }
+        //-----------------------------------------------------------------
+        //-- Deadband
+        QGCLabel {
+            text:               qsTr("Deadbands")
+            Layout.alignment:   Qt.AlignVCenter
+            visible:            advancedSettings.checked
+        }
+        QGCCheckBox {
+            enabled:            advancedSettings.checked
+            checked:            controller.deadbandToggle
+            onClicked:          controller.deadbandToggle = checked
+            Layout.alignment:   Qt.AlignVCenter
+            visible:            advancedSettings.checked
+        }
+        QGCLabel{
+            Layout.fillWidth:   true
+            Layout.columnSpan:  2
+            font.pointSize:     ScreenTools.smallFontPointSize
+            wrapMode:           Text.WordWrap
+            visible:            advancedSettings.checked
+            text:   qsTr("Deadband can be set during the first ") +
+                    qsTr("step of calibration by gently wiggling each axis. ") +
+                    qsTr("Deadband can also be adjusted by clicking and ") +
+                    qsTr("dragging vertically on the corresponding axis monitor.")
+        }
+    }
+}
+
+

src/VehicleSetup/JoystickConfigButtons.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick                      2.11
+import QtQuick.Controls             2.4
+import QtQuick.Dialogs              1.3
+import QtQuick.Layouts              1.11
+
+import QGroundControl               1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controllers   1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+
+Item {
+    width:                  availableWidth
+    height:                 (activeVehicle.supportsJSButton ? buttonCol.height : buttonFlow.height) + (ScreenTools.defaultFontPixelHeight * 2)
+    Connections {
+        target: _activeJoystick
+        onRawButtonPressedChanged: {
+            if (buttonActionRepeater.itemAt(index)) {
+                buttonActionRepeater.itemAt(index).pressed = pressed
+            }
+            if (jsButtonActionRepeater.itemAt(index)) {
+                jsButtonActionRepeater.itemAt(index).pressed = pressed
+            }
+        }
+    }
+    Flow {
+        id:                 buttonFlow
+        width:              parent.width
+        spacing:            ScreenTools.defaultFontPixelWidth
+        visible:            !activeVehicle.supportsJSButton
+        anchors.centerIn:   parent
+        Repeater {
+            id:             buttonActionRepeater
+            model:          _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : []
+            Row {
+                spacing:    ScreenTools.defaultFontPixelWidth
+                property bool pressed
+                QGCCheckBox {
+                    anchors.verticalCenter:     parent.verticalCenter
+                    checked:                    _activeJoystick ? _activeJoystick.buttonActions[modelData] !== "" : false
+                    onClicked:                  _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.textAt(buttonActionCombo.currentIndex) : "")
+                }
+                Rectangle {
+                    anchors.verticalCenter:     parent.verticalCenter
+                    width:                      ScreenTools.defaultFontPixelHeight * 1.5
+                    height:                     width
+                    border.width:               1
+                    border.color:               qgcPal.text
+                    color:                      pressed ? qgcPal.buttonHighlight : qgcPal.button
+                    QGCLabel {
+                        anchors.fill:           parent
+                        color:                  pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
+                        horizontalAlignment:    Text.AlignHCenter
+                        verticalAlignment:      Text.AlignVCenter
+                        text:                   modelData
+                    }
+                }
+                QGCComboBox {
+                    id:                         buttonActionCombo
+                    width:                      ScreenTools.defaultFontPixelWidth * 20
+                    model:                      _activeJoystick ? _activeJoystick.actions : 0
+                    onActivated:                _activeJoystick.setButtonAction(modelData, textAt(index))
+                    Component.onCompleted:      currentIndex = find(_activeJoystick.buttonActions[modelData])
+                }
+            }
+        }
+    }
+    Column {
+        id:         buttonCol
+        width:      parent.width
+        visible:    activeVehicle.supportsJSButton
+        spacing:    ScreenTools.defaultFontPixelHeight / 3
+        Row {
+            spacing: ScreenTools.defaultFontPixelWidth
+            QGCLabel {
+                horizontalAlignment:    Text.AlignHCenter
+                width:                  ScreenTools.defaultFontPixelHeight * 1.5
+                text:                   qsTr("#")
+            }
+            QGCLabel {
+                width:                  ScreenTools.defaultFontPixelWidth * 15
+                text:                   qsTr("Function: ")
+            }
+            QGCLabel {
+                width:                  ScreenTools.defaultFontPixelWidth * 15
+                text:                   qsTr("Shift Function: ")
+            }
+        }
+        Repeater {
+            id:     jsButtonActionRepeater
+            model:  _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : 0
+
+            Row {
+                spacing: ScreenTools.defaultFontPixelWidth
+                visible: activeVehicle.supportsJSButton
+
+                property bool pressed
+
+                Rectangle {
+                    anchors.verticalCenter:     parent.verticalCenter
+                    width:                      ScreenTools.defaultFontPixelHeight * 1.5
+                    height:                     width
+                    border.width:               1
+                    border.color:               qgcPal.text
+                    color:                      pressed ? qgcPal.buttonHighlight : qgcPal.button
+
+
+                    QGCLabel {
+                        anchors.fill:           parent
+                        color:                  pressed ? qgcPal.buttonHighlightText : qgcPal.buttonText
+                        horizontalAlignment:    Text.AlignHCenter
+                        verticalAlignment:      Text.AlignVCenter
+                        text:                   modelData
+                    }
+                }
+
+                FactComboBox {
+                    id:         mainJSButtonActionCombo
+                    width:      ScreenTools.defaultFontPixelWidth * 15
+                    fact:       controller.parameterExists(-1, "BTN"+index+"_FUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_FUNCTION") : null;
+                    indexModel: false
+                }
+
+                FactComboBox {
+                    id:         shiftJSButtonActionCombo
+                    width:      ScreenTools.defaultFontPixelWidth * 15
+                    fact:       controller.parameterExists(-1, "BTN"+index+"_SFUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_SFUNCTION") : null;
+                    indexModel: false
+                }
+            }
+        }
+    }
+}
+
+

src/VehicleSetup/JoystickConfigController.cc

@@ -28,21 +28,6 @@ const int JoystickConfigController::_calMinDelta =          1000;       ///< Amo
 
 const int JoystickConfigController::_stickDetectSettleMSecs = 500;
 
-const char*  JoystickConfigController::_imageFilePrefix =   "calibration/joystick/";
-const char*  JoystickConfigController::_imageFileMode1Dir = "mode1/";
-const char*  JoystickConfigController::_imageFileMode2Dir = "mode2/";
-const char*  JoystickConfigController::_imageFileMode3Dir = "mode3/";
-const char*  JoystickConfigController::_imageFileMode4Dir = "mode4/";
-const char*  JoystickConfigController::_imageCenter =       "joystickCenter.png";
-const char*  JoystickConfigController::_imageThrottleUp =   "joystickThrottleUp.png";
-const char*  JoystickConfigController::_imageThrottleDown = "joystickThrottleDown.png";
-const char*  JoystickConfigController::_imageYawLeft =      "joystickYawLeft.png";
-const char*  JoystickConfigController::_imageYawRight =     "joystickYawRight.png";
-const char*  JoystickConfigController::_imageRollLeft =     "joystickRollLeft.png";
-const char*  JoystickConfigController::_imageRollRight =    "joystickRollRight.png";
-const char*  JoystickConfigController::_imagePitchUp =      "joystickPitchUp.png";
-const char*  JoystickConfigController::_imagePitchDown =    "joystickPitchDown.png";
-
 static const JoystickConfigController::stateStickPositions stSticksCentered {
     0.25, 0.5, 0.75, 0.5
 };
@@ -137,7 +122,7 @@ JoystickConfigController::~JoystickConfigController()
 /// @brief Returns the state machine entry for the specified state.
 const JoystickConfigController::stateMachineEntry* JoystickConfigController::_getStateMachineEntry(int step)
 {
-    static const char* msgBegin =               "Allow all sticks to center as shown in diagram.\n\nClick Next to continue";
+    static const char* msgBegin =               "Allow all sticks to center as shown in diagram.\nClick Next to continue";
     static const char* msgThrottleUp =          "Move the Throttle stick all the way up and hold it there...";
     static const char* msgThrottleDown =        "Move the Throttle stick all the way down and hold it there...";
     static const char* msgYawLeft =             "Move the Yaw stick all the way to the left and hold it there...";
@@ -151,7 +136,7 @@ const JoystickConfigController::stateMachineEntry* JoystickConfigController::_ge
     static const char* msgGimbalPitchUp =       "Move the Gimbal Pitch control all the way up and hold it there...";
     static const char* msgGimbalYawLeft =       "Move the Gimbal Yaw control all the way to the left and hold it there...";
     static const char* msgGimbalYawRight =      "Move the Gimbal Yaw control all the way to the right and hold it there...";
-    static const char* msgComplete =            "All settings have been captured. Click Next to enable the joystick.";
+    static const char* msgComplete =            "All settings have been captured.\nClick Next to enable the joystick.";
 
     static const stateMachineEntry rgStateMachine[] = {
         //Function
@@ -189,6 +174,24 @@ void JoystickConfigController::_advanceState()
     _setupCurrentState();
 }
 
+bool JoystickConfigController::nextEnabled()
+{
+    if(_currentStep >= 0) {
+        const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
+        return state->nextFn != nullptr;
+    }
+    return false;
+}
+
+bool JoystickConfigController::skipEnabled()
+{
+    if(_currentStep >= 0) {
+        const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
+        return state->skipFn != nullptr;
+    }
+    return false;
+}
+
 /// @brief Sets up the state machine according to the current step from _currentStep.
 void JoystickConfigController::_setupCurrentState()
 {
@@ -197,14 +200,14 @@ void JoystickConfigController::_setupCurrentState()
     _stickDetectAxis = _axisNoAxis;
     _stickDetectSettleStarted = false;
     _calSaveCurrentValues();
-    _nextButton->setEnabled(state->nextFn != nullptr);
-    _skipButton->setEnabled(state->skipFn != nullptr);
     _currentStickPositions.clear();
     _currentStickPositions << state->stickPositions.leftX << state->stickPositions.leftY << state->stickPositions.rightX << state->stickPositions.rightY;
     _currentGimbalPositions.clear();
     _currentGimbalPositions << state->gimbalPositions.leftX << state->gimbalPositions.leftY << state->gimbalPositions.rightX << state->gimbalPositions.rightY;
     emit stickPositionsChanged();
     emit gimbalPositionsChanged();
+    emit nextEnabledChanged();
+    emit skipEnabledChanged();
 }
 
 void JoystickConfigController::_axisValueChanged(int axis, int value)
@@ -300,7 +303,6 @@ void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t fu
     if ((abs(value) * 1.1f > _rgAxisInfo[axis].deadband) && (_activeJoystick->deadband())) {   //add 10% on top of existing deadband
         _axisDeadbandChanged(axis, static_cast<int>(abs(value) * 1.1f));
     }
-    _nextButton->setEnabled(true);
     // FIXME: Doesn't wait for center
 }
 
@@ -588,8 +590,6 @@ void JoystickConfigController::_startCalibration()
 {
     _activeJoystick->setCalibrationMode(true);
     _resetInternalCalibrationValues();
-    _nextButton->setProperty("text", "Next");
-    _cancelButton->setEnabled(true);
     _currentStep = 0;
     _setupCurrentState();
     emit calibratingChanged();
@@ -602,11 +602,13 @@ void JoystickConfigController::_stopCalibration()
     _activeJoystick->setCalibrationMode(false);
     _setInternalCalibrationValuesFromSettings();
     _setStatusText("");
-    _nextButton->setProperty("text", tr("Calibrate"));
-    _nextButton->setEnabled(true);
-    _cancelButton->setEnabled(false);
-    _skipButton->setEnabled(false);
     emit calibratingChanged();
+    _currentStickPositions.clear();
+    _currentGimbalPositions.clear();
+    _currentStickPositions  << _sticksCentered.leftX  << _sticksCentered.leftY  << _sticksCentered.rightX  << _sticksCentered.rightY;
+    _currentGimbalPositions << stGimbalCentered.leftX << stGimbalCentered.leftY << stGimbalCentered.rightX << stGimbalCentered.rightY;
+    emit stickPositionsChanged();
+    emit gimbalPositionsChanged();
 }
 
 /// @brief Saves the current axis values, so that we can detect when the use moves an input.
@@ -618,22 +620,6 @@ void JoystickConfigController::_calSaveCurrentValues()
     }
 }
 
-/// @brief Set up the Save state of calibration.
-void JoystickConfigController::_calSave()
-{
-    _calState = calStateSave;
-    _setStatusText(tr(
-        "The current calibration settings are now displayed for each axis on screen.\n\n"
-        "Click the Next button to upload calibration to board. Click Cancel if you don't want to save these values."));
-    _nextButton->setEnabled(true);
-    _skipButton->setEnabled(false);
-    _cancelButton->setEnabled(true);
-    
-    // This updates the internal values according to the validation rules. Then _updateView will tick and update ui
-    // such that the settings that will be written out are displayed.
-    _validateCalibration();
-}
-
 void JoystickConfigController::_setStickPositions()
 {
     _sticksCentered = stSticksCentered;

src/VehicleSetup/JoystickConfigController.h

@@ -41,10 +41,6 @@ public:
     
     Q_PROPERTY(QString statusText               READ statusText                 NOTIFY statusTextChanged)
 
-    Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
-    Q_PROPERTY(QQuickItem* nextButton   MEMBER _nextButton)
-    Q_PROPERTY(QQuickItem* skipButton   MEMBER _skipButton)
-    
     Q_PROPERTY(bool rollAxisMapped              READ rollAxisMapped             NOTIFY rollAxisMappedChanged)
     Q_PROPERTY(bool pitchAxisMapped             READ pitchAxisMapped            NOTIFY pitchAxisMappedChanged)
     Q_PROPERTY(bool yawAxisMapped               READ yawAxisMapped              NOTIFY yawAxisMappedChanged)
@@ -66,6 +62,8 @@ public:
 
     Q_PROPERTY(int  transmitterMode             READ transmitterMode            WRITE setTransmitterMode NOTIFY transmitterModeChanged)
     Q_PROPERTY(bool calibrating                 READ calibrating                NOTIFY calibratingChanged)
+    Q_PROPERTY(bool nextEnabled                 READ nextEnabled                NOTIFY nextEnabledChanged)
+    Q_PROPERTY(bool skipEnabled                 READ skipEnabled                NOTIFY skipEnabledChanged)
 
     Q_PROPERTY(QList<qreal> stickPositions      READ stickPositions             NOTIFY stickPositionsChanged)
     Q_PROPERTY(QList<qreal> gimbalPositions     READ gimbalPositions            NOTIFY gimbalPositionsChanged)
@@ -103,6 +101,8 @@ public:
     void setTransmitterMode                 (int mode);
 
     bool calibrating                        () { return _currentStep != -1; }
+    bool nextEnabled                        ();
+    bool skipEnabled                        ();
 
     QList<qreal> stickPositions             () { return _currentStickPositions; }
     QList<qreal> gimbalPositions            () { return _currentGimbalPositions; }
@@ -132,6 +132,8 @@ signals:
     void deadbandToggled                    (bool value);
     void transmitterModeChanged             (int mode);
     void calibratingChanged                 ();
+    void nextEnabledChanged                 ();
+    void skipEnabledChanged                 ();
     void stickPositionsChanged              ();
     void gimbalPositionsChanged             ();
     void hasGimbalChanged                   ();
@@ -213,7 +215,6 @@ private:
     
     void _startCalibration      ();
     void _stopCalibration       ();
-    void _calSave               ();
 
     void _calSaveCurrentValues  ();
     
@@ -223,23 +224,6 @@ private:
 
     void _setStatusText         (const QString& text);
     
-    // Member variables
-
-    static const char* _imageFileMode1Dir;
-    static const char* _imageFileMode2Dir;
-    static const char* _imageFileMode3Dir;
-    static const char* _imageFileMode4Dir;
-    static const char* _imageFilePrefix;
-    static const char* _imageCenter;
-    static const char* _imageThrottleUp;
-    static const char* _imageThrottleDown;
-    static const char* _imageYawLeft;
-    static const char* _imageYawRight;
-    static const char* _imageRollLeft;
-    static const char* _imageRollRight;
-    static const char* _imagePitchUp;
-    static const char* _imagePitchDown;
-
     stateStickPositions _sticksCentered;
     stateStickPositions _sticksThrottleUp;
     stateStickPositions _sticksThrottleDown;
@@ -286,14 +270,10 @@ private:
     int     _stickDetectValue;
     bool    _stickDetectSettleStarted;
     QTime   _stickDetectSettleElapsed;
-    static const int _stickDetectSettleMSecs;
 
-    QString     _statusText;
+    static const int _stickDetectSettleMSecs;
 
-    QQuickItem* _cancelButton   = nullptr;
-    QQuickItem* _nextButton     = nullptr;
-    QQuickItem* _skipButton     = nullptr;
-    
+    QString             _statusText;
     JoystickManager*    _joystickManager;
 };
 

src/uas/UAS.cc

@@ -839,8 +839,12 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
 * Set the manual control commands.
 * This can only be done if the system has manual inputs enabled and is armed.
 */
-void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode)
+void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMode)
 {
+    //-- TODO
+    Q_UNUSED(gimbalPitch);
+    Q_UNUSED(gimbalYaw);
+
     if (!_vehicle) {
         return;
     }
@@ -997,11 +1001,11 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
         } else if (joystickMode == Vehicle::JoystickModeRC) {
 
             // Save the new manual control inputs
-            manualRollAngle = roll;
-            manualPitchAngle = pitch;
-            manualYawAngle = yaw;
-            manualThrust = thrust;
-            manualButtons = buttons;
+            manualRollAngle     = roll;
+            manualPitchAngle    = pitch;
+            manualYawAngle      = yaw;
+            manualThrust        = thrust;
+            manualButtons       = buttons;
 
             // Store scaling values for all 3 axes
             const float axesScaling = 1.0 * 1000.0;
@@ -1009,19 +1013,22 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
             // Calculate the new commands for roll, pitch, yaw, and thrust
             const float newRollCommand = roll * axesScaling;
             // negate pitch value because pitch is negative for pitching forward but mavlink message argument is positive for forward
-            const float newPitchCommand = -pitch * axesScaling;
-            const float newYawCommand = yaw * axesScaling;
+            const float newPitchCommand  = -pitch * axesScaling;
+            const float newYawCommand    = yaw * axesScaling;
             const float newThrustCommand = thrust * axesScaling;
 
-            //qDebug() << newRollCommand << newPitchCommand << newYawCommand << newThrustCommand;
-
             // Send the MANUAL_COMMAND message
-            mavlink_msg_manual_control_pack_chan(mavlink->getSystemId(),
-                                                 mavlink->getComponentId(),
-                                                 _vehicle->priorityLink()->mavlinkChannel(),
-                                                 &message,
-                                                 this->uasId,
-                                                 newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
+            mavlink_msg_manual_control_pack_chan(
+                static_cast<uint8_t>(mavlink->getSystemId()),
+                static_cast<uint8_t>(mavlink->getComponentId()),
+                _vehicle->priorityLink()->mavlinkChannel(),
+                &message,
+                static_cast<uint8_t>(this->uasId),
+                static_cast<int16_t>(newPitchCommand),
+                static_cast<int16_t>(newRollCommand),
+                static_cast<int16_t>(newThrustCommand),
+                static_cast<int16_t>(newYawCommand),
+                buttons);
         }
 
         _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);

src/uas/UAS.h

@@ -263,7 +263,7 @@ public slots:
 #endif
 
     /** @brief Set the values for the manual control of the vehicle */
-    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
+    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMode);
 
     /** @brief Set the values for the 6dof manual control of the vehicle */
 #ifndef __mobile__