Implementation of ArduCoptor configuration screen

src/ui/configuration/ArduCopterPidConfig.cc

@@ -3,8 +3,84 @@
 ArduCopterPidConfig::ArduCopterPidConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
+    nameToBoxMap["STB_RLL_P"] = ui.stabilPitchPSpinBox;
+    nameToBoxMap["STB_PIT_P"] = ui.stabilRollPSpinBox;
+    nameToBoxMap["STB_YAW_P"] = ui.stabilYawPSpinBox;
+    nameToBoxMap["HLD_LAT_P"] = ui.loiterPidPSpinBox;
+
+    nameToBoxMap["RATE_RLL_P"] = ui.rateRollPSpinBox;
+    nameToBoxMap["RATE_RLL_I"] = ui.rateRollISpinBox;
+    nameToBoxMap["RATE_RLL_D"] = ui.rateRollDSpinBox;
+    nameToBoxMap["RATE_RLL_IMAX"] = ui.rateRollIMAXSpinBox;
+
+    nameToBoxMap["RATE_PIT_P"] = ui.ratePitchPSpinBox;
+    nameToBoxMap["RATE_PIT_I"] = ui.ratePitchISpinBox;
+    nameToBoxMap["RATE_PIT_D"] = ui.ratePitchDSpinBox;
+    nameToBoxMap["RATE_PIT_IMAX"] = ui.ratePitchIMAXSpinBox;
+
+    nameToBoxMap["RATE_YAW_P"] = ui.rateYawPSpinBox;
+    nameToBoxMap["RATE_YAW_I"] = ui.rateYawISpinBox;
+    nameToBoxMap["RATE_YAW_D"] = ui.rateYawDSpinBox;
+    nameToBoxMap["RATE_YAW_IMAX"] = ui.rateYawIMAXSpinBox;
+
+    nameToBoxMap["LOITER_LAT_P"] = ui.rateLoiterPSpinBox;
+    nameToBoxMap["LOITER_LAT_I"] = ui.rateLoiterISpinBox;
+    nameToBoxMap["LOITER_LAT_D"] = ui.rateLoiterDSpinBox;
+    nameToBoxMap["LOITER_LAT_IMAX"] = ui.rateLoiterIMAXSpinBox;
+
+    nameToBoxMap["THR_ACCEL_P"] = ui.throttleAccelPSpinBox;
+    nameToBoxMap["THR_ACCEL_I"] = ui.throttleAccelISpinBox;
+    nameToBoxMap["THR_ACCEL_D"] = ui.throttleAccelDSpinBox;
+    nameToBoxMap["THR_ACCEL_IMAX"] = ui.throttleAccelIMAXSpinBox;
+
+    nameToBoxMap["THR_RATE_P"] = ui.throttleRatePSpinBox;
+    nameToBoxMap["THR_RATE_D"] = ui.throttleDateDSpinBox;
+
+    nameToBoxMap["THR_ALT_P"] = ui.altitudeHoldPSpinBox;
+
+    nameToBoxMap["WPNAV_SPEED"] = ui.wpNavLoiterSpeedSpinBox;
+    nameToBoxMap["WPNAV_RADIUS"] = ui.wpNavRadiusSpinBox;
+    nameToBoxMap["WPNAV_SPEED_DN"] = ui.wpNavSpeedDownSpinBox;
+    nameToBoxMap["WPNAV_LOIT_SPEED"] = ui.wpNavSpeedSpinBox;
+    nameToBoxMap["WPNAV_SPEED_UP"] = ui.wpNavSpeedUpSpinBox;
+
+    nameToBoxMap["TUNE_HIGH"] = ui.ch6MaxSpinBox;
+    nameToBoxMap["TUNE_LOW"] = ui.ch6MinSpinBox;
+
+    connect(ui.writePushButton,SIGNAL(clicked()),this,SLOT(writeButtonClicked()));
+    connect(ui.refreshPushButton,SIGNAL(clicked()),this,SLOT(refreshButtonClicked()));
 }
 
 ArduCopterPidConfig::~ArduCopterPidConfig()
 {
 }
+void ArduCopterPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (nameToBoxMap.contains(parameterName))
+    {
+        nameToBoxMap[parameterName]->setValue(value.toDouble());
+    }
+}
+void ArduCopterPidConfig::writeButtonClicked()
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    {
+        m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
+    }
+}
+
+void ArduCopterPidConfig::refreshButtonClicked()
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    {
+        m_uas->getParamManager()->requestParameterUpdate(1,i.key());
+    }
+}

src/ui/configuration/ArduCopterPidConfig.h

@@ -13,8 +13,12 @@ class ArduCopterPidConfig : public AP2ConfigWidget
 public:
     explicit ArduCopterPidConfig(QWidget *parent = 0);
     ~ArduCopterPidConfig();
-    
+private slots:
+    void writeButtonClicked();
+    void refreshButtonClicked();
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
+    QMap<QString,QDoubleSpinBox*> nameToBoxMap;
     Ui::ArduCopterPidConfig ui;
 };