Checkpoint: RC calibration much better / operation, can use UI tweaks....

Checkpoint: RC calibration much better / operation, can use UI tweaks. Airframe config in, but not operational and still very functional / ugly.

files/px4/widgets/px4_calibration.qgw

@@ -58,4 +58,16 @@ QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM4=1
 QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM5=0
 QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM6=0
 QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\size=5
+QGC_TOOL_WIDGET_ITEMS\6\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot to Bootloader
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_BUTTONTEXT=BOOTLOADER
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_COMMANDID=246
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM1=3
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\size=7

src/ui/QGCPX4VehicleConfig.h

@@ -6,9 +6,11 @@
 #include <QList>
 #include <QGroupBox>
 #include <QPushButton>
+#include <QStringList>
 
 #include "QGCToolWidget.h"
 #include "UASInterface.h"
+#include "px4_configuration/QGCPX4AirframeConfig.h"
 
 class UASParameterCommsMgr;
 
@@ -37,6 +39,8 @@ public slots:
     void sensorMenuButtonClicked();
     void generalMenuButtonClicked();
     void advancedMenuButtonClicked();
+    void airframeMenuButtonClicked();
+    void identifyChannelMapping(int aert_index);
 
     /** Set the MAV currently being calibrated */
     void setActiveUAS(UASInterface* active);
@@ -136,6 +140,46 @@ public slots:
         rcRev[rcMapping[7]] = inverted;
     }
 
+    /** Identify roll */
+    void identifyRollChannel() {
+        identifyChannelMapping(0);
+    }
+
+    /** Identify pitch */
+    void identifyPitchChannel() {
+        identifyChannelMapping(1);
+    }
+
+    /** Identify yaw */
+    void identifyYawChannel() {
+        identifyChannelMapping(2);
+    }
+
+    /** Identify throttle */
+    void identifyThrottleChannel() {
+        identifyChannelMapping(3);
+    }
+
+    /** Identify mode */
+    void identifyModeChannel() {
+        identifyChannelMapping(4);
+    }
+
+    /** Identify sub mode */
+    void identifySubModeChannel() {
+        identifyChannelMapping(5);
+    }
+
+    /** Identify aux 1 */
+    void identifyAux1Channel() {
+        identifyChannelMapping(6);
+    }
+
+    /** Identify aux 2 */
+    void identifyAux2Channel() {
+        identifyChannelMapping(7);
+    }
+
 protected slots:
     void menuButtonClicked();
     /** Reset the RC calibration */
@@ -174,6 +218,12 @@ protected:
     float rcScaling[chanMax];           ///< Scaling of channel input to control commands
     bool rcRev[chanMax];                ///< Channel reverse
     int rcValue[chanMax];               ///< Last values
+    float rcMappedMin[chanMax];            ///< Mapped channels in default order
+    float rcMappedMax[chanMax];            ///< Mapped channels in default order
+    float rcMappedValue[chanMax];            ///< Mapped channels in default order
+    int channelWanted;                  ///< During channel assignment search the requested default index
+    float channelWantedList[chanMax];   ///< During channel assignment search the start values
+    QStringList channelNames;           ///< List of channel names in standard order
     float rcRoll;                       ///< PPM input channel used as roll control input
     float rcPitch;                      ///< PPM input channel used as pitch control input
     float rcYaw;                        ///< PPM input channel used as yaw control input
@@ -197,6 +247,8 @@ protected:
     QMap<QGCToolWidget*,QGroupBox*> toolToBoxMap;                       ///< Easy method of figuring out which QGroupBox is tied to which ToolWidget.
     QMap<QString,QString> paramTooltips;                                ///< Tooltips for the ? button next to a parameter.
 
+    QGCPX4AirframeConfig* px4AirframeConfig;
+
 private:
     Ui::QGCPX4VehicleConfig *ui;
     QMap<QPushButton*,QWidget*> buttonToWidgetMap;

src/ui/uas/UASControlWidget.cc

@@ -116,15 +116,17 @@ void UASControlWidget::updateModesList()
 
 void UASControlWidget::setUAS(UASInterface* uas)
 {
-    if (this->uasID) {
+    if (this->uasID > 0) {
         UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uasID);
-        disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem()));
-        disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
-        disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home()));
-        disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown()));
-        //connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
-        disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int, QString, QString)));
-        disconnect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
+        if (oldUAS) {
+            disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem()));
+            disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
+            disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home()));
+            disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown()));
+            //connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
+            disconnect(oldUAS, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int, QString, QString)));
+            disconnect(oldUAS, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
+        }
     }
 
     // Connect user interface controls
@@ -141,11 +143,13 @@ void UASControlWidget::setUAS(UASInterface* uas)
 
         this->uasID = uas->getUASID();
         setBackgroundColor(uas->getColor());
+
+        this->updateModesList();
+        this->updateArmText();
+
     } else {
         this->uasID = -1;
     }
-    this->updateModesList();
-    this->updateArmText();
 }
 
 UASControlWidget::~UASControlWidget()