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Commit 0b1f2f63 authored by Don Gagne's avatar Don Gagne
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RCCalibration updates 

- Updated to use RCChannelWidget
- Removed attitude control widgets
- Previous calibration values now shown when not actively calibrating
parent 091cc1eb
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Showing with 630 additions and 547 deletions
src/qgcunittest/MockQGCUASParamManager.h
View file @ 0b1f2f63
......@@ -38,7 +38,7 @@ class MockQGCUASParamManager : public QGCUASParamManagerInterface
signals:
// The following QGCSUASParamManagerInterface signals are supported
// currently none
void parameterListUpToDate(); // You can connect to this signal, but it will never be emitted
public:
// Implemented QGCSUASParamManager overrides
......
src/qgcunittest/PX4RCCalibrationTest.cc
View file @ 0b1f2f63
......@@ -97,32 +97,13 @@ void PX4RCCalibrationTest::init(void)
_statusLabel = _calWidget->findChild<QLabel*>("rcCalStatus");
Q_ASSERT(_statusLabel);
// Need to make sure standard channel indices are less then 4. Otherwise our _rgRadioWidget array won't work correctly.
Q_ASSERT(PX4RCCalibration::rcCalFunctionRoll >= 0 && PX4RCCalibration::rcCalFunctionRoll < 4);
Q_ASSERT(PX4RCCalibration::rcCalFunctionPitch >= 0 && PX4RCCalibration::rcCalFunctionPitch < 4);
Q_ASSERT(PX4RCCalibration::rcCalFunctionYaw >= 0 && PX4RCCalibration::rcCalFunctionYaw < 4);
Q_ASSERT(PX4RCCalibration::rcCalFunctionThrottle >= 0 && PX4RCCalibration::rcCalFunctionThrottle < 4);
_rgAttitudeRadioWidget[PX4RCCalibration::rcCalFunctionRoll] = _calWidget->findChild<QGCRadioChannelDisplay*>("rollWidget");
_rgAttitudeRadioWidget[PX4RCCalibration::rcCalFunctionPitch] = _calWidget->findChild<QGCRadioChannelDisplay*>("pitchWidget");
_rgAttitudeRadioWidget[PX4RCCalibration::rcCalFunctionYaw] = _calWidget->findChild<QGCRadioChannelDisplay*>("yawWidget");
_rgAttitudeRadioWidget[PX4RCCalibration::rcCalFunctionThrottle] = _calWidget->findChild<QGCRadioChannelDisplay*>("throttleWidget");
Q_ASSERT(_rgAttitudeRadioWidget[PX4RCCalibration::rcCalFunctionRoll]);
Q_ASSERT(_rgAttitudeRadioWidget[PX4RCCalibration::rcCalFunctionPitch]);
Q_ASSERT(_rgAttitudeRadioWidget[PX4RCCalibration::rcCalFunctionYaw]);
Q_ASSERT(_rgAttitudeRadioWidget[PX4RCCalibration::rcCalFunctionThrottle]);
for (size_t i=0; i<PX4RCCalibration::_chanMax; i++) {
QString radioWidgetName("radio%1Widget");
QString radioWidgetUserName("Radio %1");
QGCRadioChannelDisplay* radioWidget = _calWidget->findChild<QGCRadioChannelDisplay*>(radioWidgetName.arg(i+1));
RCChannelWidget* radioWidget = _calWidget->findChild<RCChannelWidget*>(radioWidgetName.arg(i+1));
Q_ASSERT(radioWidget);
radioWidget->setOrientation(Qt::Horizontal);
radioWidget->setName(radioWidgetUserName.arg(i+1));
_rgRadioWidget[i] = radioWidget;
}
}
......@@ -177,7 +158,7 @@ void PX4RCCalibrationTest::_liveRC_test(void)
}
for (int i=0; i<PX4RCCalibration::_chanMax; i++) {
QGCRadioChannelDisplay* radioWidget = _rgRadioWidget[i];
RCChannelWidget* radioWidget = _rgRadioWidget[i];
Q_ASSERT(radioWidget);
QCOMPARE(radioWidget->value(), PX4RCCalibration::_rcCalPWMValidMinValue);
......@@ -323,20 +304,9 @@ StartOver:
CHK_BUTTONS(cancelButtonMask);
// Also at this point the radio channel widgets should be displaying the current min/max we just set.
// Check both the Attitude Control widgets as well as generic channel widgets.
Q_ASSERT(PX4RCCalibration::rcCalFunctionFirstAttitudeFunction == 0);
for (int i=0; i<PX4RCCalibration::rcCalFunctionLastAttitudeFunction; i++) {
QGCRadioChannelDisplay* radioWidget = _rgAttitudeRadioWidget[i];
Q_ASSERT(radioWidget);
QCOMPARE(radioWidget->isMinMaxShown(), true);
QCOMPARE(radioWidget->min(), PX4RCCalibration::_rcCalPWMValidMinValue);
QCOMPARE(radioWidget->max(), PX4RCCalibration::_rcCalPWMValidMaxValue);
}
for (int i=0; i<PX4RCCalibration::_chanMax; i++) {
QGCRadioChannelDisplay* radioWidget = _rgRadioWidget[i];
RCChannelWidget* radioWidget = _rgRadioWidget[i];
Q_ASSERT(radioWidget);
QCOMPARE(radioWidget->isMinMaxShown(), true);
......
src/qgcunittest/PX4RCCalibrationTest.h
View file @ 0b1f2f63
......@@ -93,8 +93,7 @@ private:
QPushButton* _tryAgainButton;
QLabel* _statusLabel;
QGCRadioChannelDisplay* _rgAttitudeRadioWidget[4];
QGCRadioChannelDisplay* _rgRadioWidget[PX4RCCalibration::_chanMax];
RCChannelWidget* _rgRadioWidget[PX4RCCalibration::_chanMax];
};
DECLARE_TEST(PX4RCCalibrationTest)
......
src/ui/px4_configuration/PX4RCCalibration.cc
View file @ 0b1f2f63
......@@ -59,40 +59,21 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
_chanCount(0),
_rcCalState(rcCalStateChannelWait),
_mav(NULL),
_paramMgr(NULL),
_parameterListUpToDateSignalled(false),
_ui(new Ui::PX4RCCalibration)
{
_ui->setupUi(this);
// Setup up attitude control radio widgets
_ui->rollWidget->setName(_rgFunctionInfo[rcCalFunctionRoll].functionName);
_ui->pitchWidget->setName(_rgFunctionInfo[rcCalFunctionPitch].functionName);
_ui->yawWidget->setName(_rgFunctionInfo[rcCalFunctionYaw].functionName);
_ui->throttleWidget->setName(_rgFunctionInfo[rcCalFunctionThrottle].functionName);
_ui->rollWidget->setOrientation(Qt::Horizontal);
_ui->yawWidget->setOrientation(Qt::Horizontal);
// Initialize arrays of widget control pointers. This allows for more efficient code writing using "for" loops.
// Need to make sure standard channel indices are less then 4. Otherwise our _rgRadioWidget array won't work correctly.
Q_ASSERT(rcCalFunctionRoll >= 0 && rcCalFunctionRoll < 4);
Q_ASSERT(rcCalFunctionPitch >= 0 && rcCalFunctionPitch < 4);
Q_ASSERT(rcCalFunctionYaw >= 0 && rcCalFunctionYaw < 4);
Q_ASSERT(rcCalFunctionThrottle >= 0 && rcCalFunctionThrottle < 4);
_rgAttitudeRadioWidget[rcCalFunctionRoll] = _ui->rollWidget;
_rgAttitudeRadioWidget[rcCalFunctionPitch] = _ui->pitchWidget;
_rgAttitudeRadioWidget[rcCalFunctionYaw] = _ui->yawWidget;
_rgAttitudeRadioWidget[rcCalFunctionThrottle] = _ui->throttleWidget;
for (int chan=0; chan<_chanMax; chan++) {
QString radioWidgetName("radio%1Widget");
QString radioWidgetUserName("Radio %1");
QString radioWidgetUserName("Channel %1");
QGCRadioChannelDisplay* radioWidget = findChild<QGCRadioChannelDisplay*>(radioWidgetName.arg(chan+1));
RCChannelWidget* radioWidget = findChild<RCChannelWidget*>(radioWidgetName.arg(chan+1));
Q_ASSERT(radioWidget);
radioWidget->setOrientation(Qt::Horizontal);
radioWidget->setName(radioWidgetUserName.arg(chan+1));
radioWidget->setTitle(radioWidgetUserName.arg(chan+1));
_rgRadioWidget[chan] = radioWidget;
}
......@@ -132,9 +113,6 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
/// @brief Resets internal calibration values to their initial state in preparation for a new calibration sequence.
void PX4RCCalibration::_resetInternalCalibrationValues(void)
{
// Detect channel count again
_chanCount = 0;
// Set all raw channels to not reversed and center point values
for (size_t i=0; i<_chanMax; i++) {
struct ChannelInfo* info = &_rgChannelInfo[i];
......@@ -151,6 +129,91 @@ void PX4RCCalibration::_resetInternalCalibrationValues(void)
}
_showMinMaxOnRadioWidgets(false);
_showTrimOnRadioWidgets(false);
}
/// @brief Resets internal calibration values to their initial state in preparation for a new calibration sequence.
void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void)
{
Q_ASSERT(_paramMgr);
if (_parameterListUpToDateSignalled) {
// Initialize all function mappings to not set
for (size_t i=0; i<_chanMax; i++) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->function = rcCalFunctionMax;
}
for (size_t i=0; i<rcCalFunctionMax; i++) {
_rgFunctionChannelMapping[i] = _chanMax;
}
// FIXME: Hardwired component id
// Pull parameters and update
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
QVariant value;
bool paramFound;
bool convertOk;
for (int i = 0; i < _chanMax; ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
paramFound = _paramMgr->getParameterValue(50, trimTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcTrim = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
paramFound = _paramMgr->getParameterValue(50, minTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcMin = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
paramFound = _paramMgr->getParameterValue(50, maxTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
info->rcMax = value.toInt(&convertOk);
Q_ASSERT(convertOk);
}
paramFound = _paramMgr->getParameterValue(50, revTpl.arg(i+1), value);
Q_ASSERT(paramFound);
if (paramFound) {
float floatReversed = value.toFloat(&convertOk);
Q_ASSERT(convertOk);
Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
info->reversed = floatReversed == -1.0f;
}
}
for (int i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
paramFound = _paramMgr->getParameterValue(50, _rgFunctionInfo[i].parameterName, value);
Q_ASSERT(paramFound);
if (paramFound) {
paramChannel = value.toInt(&convertOk);
Q_ASSERT(convertOk);
if (paramChannel != 0) {
_rgFunctionChannelMapping[i] = paramChannel - 1;
_rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
}
}
}
_showMinMaxOnRadioWidgets(true);
_showTrimOnRadioWidgets(true);
}
}
/// @brief Sets a connected Spektrum receiver into bind mode
......@@ -188,6 +251,8 @@ void PX4RCCalibration::_setActiveUAS(UASInterface* active)
// Disconnect old signals
if (_mav) {
disconnect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_parameterListUpToDate()));
_paramMgr = NULL;
}
_mav = active;
......@@ -198,6 +263,12 @@ void PX4RCCalibration::_setActiveUAS(UASInterface* active)
Q_UNUSED(fSucceeded);
fSucceeded = connect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float)));
Q_ASSERT(fSucceeded);
_paramMgr = _mav->getParamManager();
Q_ASSERT(_paramMgr);
fSucceeded = connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_parameterListUpToDate()));
Q_ASSERT(fSucceeded);
}
setEnabled(_mav ? true : false);
......@@ -361,7 +432,17 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
break;
case rcCalStateTrims:
// We only care about the throttle channel
// Update the trim values for attitude functions only
if (_rgChannelInfo[chan].function >= rcCalFunctionFirstAttitudeFunction && _rgChannelInfo[chan].function <= rcCalFunctionLastAttitudeFunction) {
int mappedChannel = _rgFunctionChannelMapping[_rgChannelInfo[chan].function];
// All Attitude Functions should be mapped
Q_ASSERT(mappedChannel != rcCalFunctionMax);
_rgChannelInfo[mappedChannel].rcTrim = _rcRawValue[mappedChannel];
}
// Once the throttle is lowered we enable the next button
Q_ASSERT(_rgFunctionChannelMapping[rcCalFunctionThrottle] != rcCalFunctionMax);
if (chan == _rgFunctionChannelMapping[rcCalFunctionThrottle]) {
bool enableNext = false;
......@@ -383,24 +464,13 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval)
void PX4RCCalibration::_updateView()
{
// Update Attitude Function channel widgets, disbaled if unmapped
for (int i=rcCalFunctionFirstAttitudeFunction; i<=rcCalFunctionLastAttitudeFunction; i++) {
int mappedChannel = _rgFunctionChannelMapping[i];
if (mappedChannel != _chanMax) {
struct ChannelInfo* info = &_rgChannelInfo[mappedChannel];
_rgAttitudeRadioWidget[i]->setEnabled(true);
_rgAttitudeRadioWidget[i]->setValueAndRange(_rcRawValue[mappedChannel], info->rcMin, info->rcMax);
} else {
_rgAttitudeRadioWidget[i]->setEnabled(false);
}
}
// Update the available channels
for (int chan=0; chan<_chanCount; chan++) {
_rgRadioWidget[chan]->setEnabled(true);
struct ChannelInfo* info = &_rgChannelInfo[chan];
_rgRadioWidget[chan]->setValueAndRange(_rcRawValue[chan], info->rcMin, info->rcMax);
_rgRadioWidget[chan]->setValueAndMinMax(_rcRawValue[chan], info->rcMin, info->rcMax);
_rgRadioWidget[chan]->setTrim(info->rcTrim);
}
// Disable non-available channels
......@@ -408,7 +478,6 @@ void PX4RCCalibration::_updateView()
_rgRadioWidget[chan]->setEnabled(false);
}
// FIXME: Could save some CPU by not doing this on every update
// Update the channel names for all channels
for (int chan=0; chan<_chanMax; chan++) {
struct ChannelInfo* info = &_rgChannelInfo[chan];
......@@ -420,7 +489,7 @@ void PX4RCCalibration::_updateView()
} else {
name = tr("%1 [Channel %2]").arg(_rgFunctionInfo[info->function].functionName).arg(oneBasedChannel);
}
_rgRadioWidget[chan]->setName(name);
_rgRadioWidget[chan]->setTitle(name);
}
}
......@@ -429,6 +498,7 @@ void PX4RCCalibration::_rcCalCancel(void)
{
_mav->endRadioControlCalibration();
_rcCalChannelWait(true);
_setInternalCalibrationValuesFromParameters();
}
void PX4RCCalibration::_rcCalSkip(void)
......@@ -482,7 +552,6 @@ void PX4RCCalibration::_rcCalNext(void)
break;
case rcCalStateTrims:
_copyAndSetTrims();
_rcCalSave();
break;
......@@ -505,14 +574,25 @@ void PX4RCCalibration::_rcCalChannelWait(bool firstTime)
_resetInternalCalibrationValues();
_ui->rcCalStatus->setText(tr("Please turn on Radio."));
if (_chanCount == 0) {
_ui->rcCalFound->setText(tr("Please turn on Radio"));
_ui->rcCalNext->setEnabled(false);
} else {
if (_chanCount >= _chanMinimum) {
_ui->rcCalNext->setEnabled(true);
_ui->rcCalStatus->setText(tr("Detected %1 radio channels.").arg(_chanCount));
} else if (_chanCount < _chanMinimum) {
_ui->rcCalNext->setEnabled(false);
_ui->rcCalStatus->setText(tr("Detected %1 radio channels. To operate PX4, you need at least %2 channels.").arg(_chanCount).arg(_chanMinimum));
}
}
if (firstTime) {
_ui->rcCalFound->clear();
} else {
_ui->rcCalFound->setText(tr("Calibration complete"));
}
_ui->rcCalNext->setEnabled(false);
_ui->rcCalNext->setText(tr("Start"));
_ui->rcCalCancel->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
......@@ -526,6 +606,8 @@ void PX4RCCalibration::_rcCalBegin(void)
_rcCalState = rcCalStateBegin;
_resetInternalCalibrationValues();
// Let the mav known we are starting calibration. This should turn off motors and so forth.
// FIXME: XXX magic number: Set to 1 for radio input disable
_mav->startRadioControlCalibration(1);
......@@ -535,6 +617,7 @@ void PX4RCCalibration::_rcCalBegin(void)
_ui->rcCalStatus->setText(tr("Starting RC calibration.\n\n"
"Ensure RC transmitter and receiver are powered and connected. It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\n"
"Reset all transmitter trims to center, then click Next to continue"));
_ui->rcCalFound->clear();
}
/// @brief Saves the current channel values, so that we can detect when the use moves an input.
......@@ -591,7 +674,6 @@ void PX4RCCalibration::_rcCalReadChannelsMinMax(void)
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
// Turn on min/max display for all radio widgets
_showMinMaxOnRadioWidgets(true);
}
......@@ -658,30 +740,16 @@ void PX4RCCalibration::_rcCalTrims(void)
_ui->rcCalTryAgain->setEnabled(false);
_ui->rcCalSkip->setEnabled(false);
_ui->rcCalCancel->setEnabled(true);
_initializeTrims();
_showTrimOnRadioWidgets(true);
}
/// @brief Copies the current rc values as trim positions.
void PX4RCCalibration::_copyAndSetTrims(void)
/// @brief Initializes the trim values based on current min/max.
void PX4RCCalibration::_initializeTrims(void)
{
// For the Attitude Functions we use the current RC values as the trim setting
for (int chanFunction=rcCalFunctionFirstAttitudeFunction; chanFunction<=rcCalFunctionLastAttitudeFunction; chanFunction++) {
int mappedChannel = _rgFunctionChannelMapping[chanFunction];
// All Attitude Functions should be mapped
Q_ASSERT(mappedChannel != rcCalFunctionMax);
_rgChannelInfo[mappedChannel].rcTrim = _rcRawValue[mappedChannel];
//qDebug() << "Setting Attitude Function trim: function" << chanFunction << "mapped channel" << mappedChannel << "trim" << _rgChannelInfo[mappedChannel].rcTrim;
}
// For mapped non-Attitude Funtions the trim is calculated from the min/max values
for (int chanFunction=rcCalFunctionFirstNonAttitudeFunction; chanFunction<=rcCalFunctionLastNonAttitudeFunction; chanFunction++) {
int mappedChannel = _rgFunctionChannelMapping[chanFunction];
if (mappedChannel != rcCalFunctionMax) {
_rgChannelInfo[mappedChannel].rcTrim = ((_rgChannelInfo[mappedChannel].rcMax - _rgChannelInfo[mappedChannel].rcMin) / 2.0f) + _rgChannelInfo[mappedChannel].rcMin;
//qDebug() << "Setting non-Attitude Function trim: function" << chanFunction << "mapped channel" << mappedChannel << "trim" << _rgChannelInfo[mappedChannel].rcTrim;
}
for (int chan=0; chan<=_chanMax; chan++) {
_rgChannelInfo[chan].rcTrim = ((_rgChannelInfo[chan].rcMax - _rgChannelInfo[chan].rcMin) / 2.0f) + _rgChannelInfo[chan].rcMin;
}
}
......@@ -744,18 +812,32 @@ void PX4RCCalibration::_unitTestForceCalState(enum rcCalStates state) {
void PX4RCCalibration::_showMinMaxOnRadioWidgets(bool show)
{
// Turn on min/max display for all radio widgets
Q_ASSERT(rcCalFunctionFirstAttitudeFunction == 0);
for (int i=0; i<=rcCalFunctionLastAttitudeFunction; i++) {
QGCRadioChannelDisplay* radioWidget = _rgAttitudeRadioWidget[i];
for (int i=0; i<_chanMax; i++) {
RCChannelWidget* radioWidget = _rgRadioWidget[i];
Q_ASSERT(radioWidget);
radioWidget->showMinMax(show);
}
}
/// @brief Shows or hides the trim values of the channel widgets.
/// @param show true: show the trim values, false: hide the trim values
void PX4RCCalibration::_showTrimOnRadioWidgets(bool show)
{
// Turn on trim display for all radio widgets
for (int i=0; i<_chanMax; i++) {
QGCRadioChannelDisplay* radioWidget = _rgRadioWidget[i];
RCChannelWidget* radioWidget = _rgRadioWidget[i];
Q_ASSERT(radioWidget);
radioWidget->showMinMax(show);
radioWidget->showTrim(show);
}
}
void PX4RCCalibration::_parameterListUpToDate(void)
{
_parameterListUpToDateSignalled = true;
if (_rcCalState == rcCalStateChannelWait) {
_setInternalCalibrationValuesFromParameters();
}
}
src/ui/px4_configuration/PX4RCCalibration.h
View file @ 0b1f2f63
......@@ -65,6 +65,8 @@ private slots:
void _setActiveUAS(UASInterface* uas);
void _toggleSpektrumPairing(bool enabled);
void _parameterListUpToDate(void);
private:
/// @brief These identify the various controls functions. They are also used as indices into the _rgFunctioInfo
/// aray.
......@@ -124,7 +126,8 @@ private:
void _writeCalibration(bool trimsOnly);
void _resetInternalCalibrationValues(void);
void _copyAndSetTrims(void);
void _setInternalCalibrationValuesFromParameters(void);
void _initializeTrims(void);
void _rcCalChannelWait(bool firstTime);
void _rcCalBegin(void);
......@@ -138,6 +141,7 @@ private:
void _rcCalSaveCurrentValues(void);
void _showMinMaxOnRadioWidgets(bool show);
void _showTrimOnRadioWidgets(bool show);
void _unitTestForceCalState(enum rcCalStates state);
......@@ -171,10 +175,12 @@ private:
float _rcRawValue[_chanMax]; ///< Current set of raw channel values
QGCRadioChannelDisplay* _rgAttitudeRadioWidget[4]; ///< Array of Attitide Function radio channel widgets
QGCRadioChannelDisplay* _rgRadioWidget[_chanMax]; ///< Array of radio channel widgets
RCChannelWidget* _rgRadioWidget[_chanMax]; ///< Array of radio channel widgets
UASInterface* _mav; ///< The current MAV
QGCUASParamManagerInterface* _paramMgr;
bool _parameterListUpToDateSignalled; ///< true: we have received a parameterListUpToDate signal
Ui::PX4RCCalibration* _ui;
......
src/ui/px4_configuration/PX4RCCalibration.ui
View file @ 0b1f2f63
......@@ -6,86 +6,179 @@
<rect>
<x>0</x>
<y>0</y>
<width>1151</width>
<height>926</height>
<width>1562</width>
<height>1286</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0" columnstretch="0,0,0">
<item row="0" column="1">
<widget class="QGCRadioChannelDisplay" name="throttleWidget" native="true">
<widget class="QWidget" name="verticalLayoutWidget">
<property name="geometry">
<rect>
<x>760</x>
<y>0</y>
<width>252</width>
<height>715</height>
</rect>
</property>
<layout class="QVBoxLayout" name="channelGroup10to18">
<item>
<widget class="RCChannelWidget" name="radio10Widget">
<property name="minimumSize">
<size>
<width>50</width>
<height>200</height>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>200</height>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QGCRadioChannelDisplay" name="yawWidget" native="true">
<item>
<widget class="RCChannelWidget" name="radio11Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QGCRadioChannelDisplay" name="pitchWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
<item>
<widget class="RCChannelWidget" name="radio12Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio13Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio14Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio15Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio16Widget">
<property name="minimumSize">
<size>
<width>50</width>
<height>200</height>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>200</height>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QGCRadioChannelDisplay" name="rollWidget" native="true">
<item>
<widget class="RCChannelWidget" name="radio17Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="RCChannelWidget" name="radio18Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>65</height>
</size>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="layoutWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>486</width>
<height>525</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="0" columnstretch="0">
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
......@@ -103,16 +196,52 @@
</item>
<item>
<widget class="QLabel" name="rcCalStatus">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>180</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
<string>Please turn on Radio</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="rcCalFound">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>400</width>
<height>16</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
......@@ -155,7 +284,7 @@
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
<height>60</height>
</size>
</property>
</spacer>
......@@ -203,272 +332,169 @@
</layout>
</item>
</layout>
</item>
<item row="0" column="1" rowspan="2">
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGCRadioChannelDisplay" name="radio1Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio2Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
<widget class="QWidget" name="layoutWidget">
<property name="geometry">
<rect>
<x>490</x>
<y>0</y>
<width>252</width>
<height>715</height>
</rect>
</property>
</widget>
</item>
<layout class="QVBoxLayout" name="channelGroup1to9" stretch="0,0,0,0,0,0,0,0,0">
<item>
<widget class="QGCRadioChannelDisplay" name="radio3Widget" native="true">
<widget class="RCChannelWidget" name="radio1Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio4Widget" native="true">
<widget class="RCChannelWidget" name="radio2Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio5Widget" native="true">
<widget class="RCChannelWidget" name="radio3Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio6Widget" native="true">
<widget class="RCChannelWidget" name="radio4Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio7Widget" native="true">
<widget class="RCChannelWidget" name="radio5Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio8Widget" native="true">
<widget class="RCChannelWidget" name="radio6Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio9Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio10Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio11Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio12Widget" native="true">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio13Widget" native="true">
<widget class="RCChannelWidget" name="radio7Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio14Widget" native="true">
<property name="minimumSize">
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio15Widget" native="true">
<widget class="RCChannelWidget" name="radio8Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio16Widget" native="true">
<property name="minimumSize">
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio17Widget" native="true">
<widget class="RCChannelWidget" name="radio9Widget">
<property name="minimumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QGCRadioChannelDisplay" name="radio18Widget" native="true">
<property name="minimumSize">
<property name="maximumSize">
<size>
<width>250</width>
<height>40</height>
<height>65</height>
</size>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
<customwidgets>
<customwidget>
<class>QGCRadioChannelDisplay</class>
<extends>QWidget</extends>
<header>ui/designer/QGCRadioChannelDisplay.h</header>
<class>RCChannelWidget</class>
<extends>QGroupBox</extends>
<header>ui/designer/RCChannelWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
......
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