Made settings work

qgroundcontrol.pro

@@ -48,7 +48,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/XMLCommProtocolWidget.ui \
     src/ui/HDDisplay.ui \
     src/ui/MAVLinkSettingsWidget.ui \
-    src/ui/AudioOutputWidget.ui
+    src/ui/AudioOutputWidget.ui \
+    src/ui/QGCSensorSettingsWidget.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -113,7 +114,8 @@ HEADERS += src/MG.h \
     src/LogCompressor.h \
     src/ui/param/ParamTreeItem.h \
     src/ui/param/ParamTreeModel.h \
-    src/ui/QGCParamWidget.h
+    src/ui/QGCParamWidget.h \
+    src/ui/QGCSensorSettingsWidget.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -161,5 +163,6 @@ SOURCES += src/main.cc \
     src/LogCompressor.cc \
     src/ui/param/ParamTreeItem.cc \
     src/ui/param/ParamTreeModel.cc \
-    src/ui/QGCParamWidget.cc
+    src/ui/QGCParamWidget.cc \
+    src/ui/QGCSensorSettingsWidget.cc
 RESOURCES = mavground.qrc

src/comm/MAVLinkSimulationLink.cc

@@ -60,6 +60,14 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
     this->rate = rate;
     _isConnected = false;
 
+    onboardParams = QMap<QString, float>();
+    onboardParams.insert("ROLL_K_P", 0.5f);
+    onboardParams.insert("PITCH_K_P", 0.5f);
+    onboardParams.insert("YAW_K_P", 0.5f);
+    onboardParams.insert("XY_K_P", 0.5f);
+    onboardParams.insert("ALT_K_P", 0.5f);
+    onboardParams.insert("SYSTEM_TYPE", 1);
+
     // Comments on the variables can be found in the header file
 
     simulationFile = new QFile(readFile, this);
@@ -91,6 +99,7 @@ MAVLinkSimulationLink::~MAVLinkSimulationLink()
     //TODO Check destructor
     //    fileStream->flush();
     //    outStream->flush();
+    delete simulationFile;
 }
 
 void MAVLinkSimulationLink::run()
@@ -482,7 +491,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
 
     // Parse bytes
     mavlink_message_t msg;
-    mavlink_status_t comm = {0};
+    mavlink_status_t comm;
 
     uint8_t stream[2048];
     int streampointer = 0;
@@ -519,7 +528,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         status.mode = MAV_MODE_AUTO;
                         break;
                     case MAV_ACTION_RETURN:
-                        status.status = MAV_STATE_LANDING;
+                        status.status = MAV_STATE_ACTIVE;
                         break;
                     case MAV_ACTION_MOTORS_START:
                         status.status = MAV_STATE_ACTIVE;
@@ -556,7 +565,21 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     if (read.target_system == systemId)
                     {
                         // Output all params
-
+                        // Iterate through all components, through all parameters and emit them
+                        QMap<QString, float>::iterator i;
+                        // Iterate through all components / subsystems
+                        for (i = onboardParams.begin(); i != onboardParams.end(); ++i)
+                        {
+                            // Pack message and get size of encoded byte string
+                            mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value());
+                            // Allocate buffer with packet data
+                            bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+                            //add data into datastream
+                            memcpy(stream+streampointer,buffer, bufferlength);
+                            streampointer+=bufferlength;
+                        }
+
+                        /*
                         // Pack message and get size of encoded byte string
                         mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"ROLL_K_P", 0.5f);
                         // Allocate buffer with packet data
@@ -579,11 +602,28 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                         //add data into datastream
                         memcpy(stream+streampointer,buffer, bufferlength);
-                        streampointer+=bufferlength;
+                        streampointer+=bufferlength;*/
 
                         qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
                     }
                 }
+                break;
+            case MAVLINK_MSG_ID_PARAM_SET:
+                {
+                    qDebug() << "SIMULATION RECEIVED COMMAND TO SET PARAMETER";
+                    mavlink_param_set_t set;
+                    mavlink_msg_param_set_decode(&msg, &set);
+                    if (set.target_system == systemId)
+                    {
+                        QString key = QString((char*)set.param_id);
+                        if (onboardParams.contains(key))
+                        {
+                            onboardParams.remove(key);
+                            onboardParams.insert(key, set.param_value);
+                        }
+                    }
+                }
+                break;
             }
 
 

src/comm/MAVLinkSimulationLink.h

@@ -37,8 +37,10 @@ This file is part of the PIXHAWK project
 #include <QTextStream>
 #include <QQueue>
 #include <QMutex>
+#include <QMap>
 #include <inttypes.h>
 #include <mavlink.h>
+
 #include "LinkInterface.h"
 
 class MAVLinkSimulationLink : public LinkInterface
@@ -116,6 +118,7 @@ protected:
     QString name;
     qint64 timeOffset;
     mavlink_sys_status_t status;
+    QMap<QString, float> onboardParams;
 
     void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
 

src/comm/MAVLinkXMLParser.cc

@@ -140,6 +140,21 @@ bool MAVLinkXMLParser::generate()
                                 decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                                 arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
                             }
+                            else if (fieldType.startsWith("string"))
+                            {
+                                int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
+                                QString arrayType = fieldType.split("[").first();
+                                packParameters += QString(", const ") + QString("char*") + " " + fieldName;
+                                packArguments += ", " + messageName + "->" + fieldName;
+
+                                // Add field to C structure
+                                cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("char", fieldName, QString::number(arrayLength), fieldText);
+                                // Add pack line to message_xx_pack function
+                                packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text());
+                                // Add decode function for this type
+                                decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
+                                arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
+                            }
                             else
                                 // Handle simple types like integers and floats
                             {
@@ -182,6 +197,10 @@ bool MAVLinkXMLParser::generate()
                             {  // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string
                                 unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
                             }
+                            else if (fieldType.startsWith("string"))
+                            {  // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string
+                                unpackingCode = QString("\n\tstrcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
+                            }
 
                             // Generate the message decoding function
                             // Array handling is different from simple types
@@ -192,6 +211,13 @@ bool MAVLinkXMLParser::generate()
                                 QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
                                 prepends += "+" + arrayLength;
                             }
+                            else if (fieldType.startsWith("string"))
+                            {
+                                unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode);
+                                decodeLines += "";
+                                QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
+                                prepends += "+" + arrayLength;
+                            }
                             else
                             {
                                 unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode);

src/uas/UAS.cc

@@ -556,8 +556,74 @@ void UAS::requestParameters()
 
 void UAS::writeParameters()
 {
+    //mavlink_message_t msg;
+    qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
+}
+
+void UAS::enableAllDataTransmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_stream_t stream;
+    // Select the message to request from now on
+    // 0 is a magic ID and will enable/disable the standard message set except for heartbeat
+    stream.req_message_id = 0;
+    // Select the update rate in Hz the message should be send
+    // All messages will be send with their default rate
+    stream.req_message_rate = 0;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    sendMessage(msg);
+}
+
+void UAS::enableRawSensorDataTransmission(bool enabled)
+{
+    // Buffers to write data to
     mavlink_message_t msg;
+    mavlink_request_stream_t stream;
+    // Select the message to request from now on
+    stream.req_message_id = MAVLINK_MSG_ID_RAW_IMU;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    sendMessage(msg);
+}
+
+void UAS::enableExtendedSystemStatusTransmission(bool enabled)
+{
+    // FIXME
+    qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
+}
+
+void UAS::enableRCChannelDataTransmission(bool enabled)
+{
+    // FIXME
+    qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
+}
 
+void UAS::enableRawControllerDataTransmission(bool enabled)
+{
+    // FIXME
+    qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
+}
+
+void UAS::enableRawSensorFusionTransmission(bool enabled)
+{
+    // FIXME
+    qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
 }
 
 void UAS::setParameter(int component, QString id, float value)
@@ -570,9 +636,23 @@ void UAS::setParameter(int component, QString id, float value)
 
     // Copy string into buffer, ensuring not to exceed the buffer size
     char* s = (char*)id.toStdString().c_str();
-    for (int i = 0; (i < id.length() && i < sizeof(p.param_id)); i++)
+    for (int i = 0; i < sizeof(p.param_id); i++)
     {
-        p.param_id[i] = *s;
+        // String characters
+        if (i < id.length() && i < (sizeof(p.param_id) - 1))
+        {
+            p.param_id[i] = s[i];
+        }
+        // Null termination at end of string or end of buffer
+        else if (i == id.length() || i == (sizeof(p.param_id) - 1))
+        {
+            p.param_id[i] = '\0';
+        }
+        // Zero fill
+        else
+        {
+            p.param_id[i] = 0;
+        }
     }
     mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
     sendMessage(msg);

src/uas/UAS.h

@@ -194,6 +194,13 @@ public slots:
     /** @brief Write parameters to permanent storage */
     void writeParameters();
 
+    void enableAllDataTransmission(bool enabled);
+    void enableRawSensorDataTransmission(bool enabled);
+    void enableExtendedSystemStatusTransmission(bool enabled);
+    void enableRCChannelDataTransmission(bool enabled);
+    void enableRawControllerDataTransmission(bool enabled);
+    void enableRawSensorFusionTransmission(bool enabled);
+
 signals:
 
     /** @brief The main/battery voltage has changed/was updated */

src/uas/UASInterface.h

@@ -198,9 +198,13 @@ public slots:
      * @brief Set the current robot as focused in the user interface
      */
     virtual void setSelected() = 0;
-    // TODO EMAV REMOVE
-    //virtual void sendMessage(LinkInterface* link, mavlink_message_t message) = 0;
-    //virtual void sendMessage(mavlink_message_t message) = 0;
+
+    virtual void enableAllDataTransmission(bool enabled) = 0;
+    virtual void enableRawSensorDataTransmission(bool enabled) = 0;
+    virtual void enableExtendedSystemStatusTransmission(bool enabled) = 0;
+    virtual void enableRCChannelDataTransmission(bool enabled) = 0;
+    virtual void enableRawControllerDataTransmission(bool enabled) = 0;
+    virtual void enableRawSensorFusionTransmission(bool enabled) = 0;
 
 protected:
     QColor color;

src/ui/MainWindow.ui

@@ -35,7 +35,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>22</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -105,7 +105,8 @@
   <action name="actionSettings">
    <property name="icon">
     <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
+     <normaloff>:/images/categories/preferences-system.svg</normaloff>
+     <normalon>:/images/categories/preferences-system.svg</normalon>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
     <string>Settings</string>
@@ -117,7 +118,8 @@
   <action name="actionLiftoff">
    <property name="icon">
     <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
+     <normaloff>:/images/control/launch.svg</normaloff>
+     <normalon>:/images/control/launch.svg</normalon>:/images/control/launch.svg</iconset>
    </property>
    <property name="text">
     <string>Liftoff</string>

src/ui/ParameterInterface.cc

@@ -4,6 +4,7 @@
 #include "ParamTreeModel.h"
 #include "UASManager.h"
 #include "ui_ParameterInterface.h"
+#include "QGCSensorSettingsWidget.h"
 
 #include <QDebug>
 
@@ -30,6 +31,7 @@ ParameterInterface::~ParameterInterface()
 void ParameterInterface::selectUAS(int index)
 {
     m_ui->stackedWidget->setCurrentIndex(index);
+    m_ui->sensorSettings->setCurrentIndex(index);
     curr = index;
 }
 
@@ -44,11 +46,17 @@ void ParameterInterface::addUAS(UASInterface* uas)
     QGCParamWidget* param = new QGCParamWidget(uas, this);
     paramWidgets->insert(uas->getUASID(), param);
     m_ui->stackedWidget->addWidget(param);
+
+
+    QGCSensorSettingsWidget* sensor = new QGCSensorSettingsWidget(uas, this);
+    m_ui->sensorSettings->addWidget(sensor);
+
+    // Set widgets as default
     if (curr == -1)
     {
+        m_ui->sensorSettings->setCurrentWidget(param);
         m_ui->stackedWidget->setCurrentWidget(param);
         curr = uas->getUASID();
-        qDebug() << "first widget";
     }
 }
 

src/ui/ParameterInterface.ui

@@ -13,108 +13,28 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_4">
-   <item row="1" column="0">
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string>Activate Extended Output</string>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Vehicle</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_2">
-      <property name="margin">
-       <number>6</number>
-      </property>
-      <item row="0" column="0">
-       <widget class="QCheckBox" name="sendRawCheckBox">
-        <property name="text">
-         <string>Send RAW Sensor data</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QCheckBox" name="sendExtendedCheckBox">
-        <property name="text">
-         <string>Send extended status</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QCheckBox" name="checkBox">
-        <property name="text">
-         <string>Send RC-values</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="0">
-       <widget class="QCheckBox" name="checkBox_2">
-        <property name="text">
-         <string>Send raw controller outputs</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
     </widget>
    </item>
-   <item row="2" column="0">
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="title">
-      <string>Calibration Wizards</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout">
-      <property name="margin">
-       <number>6</number>
-      </property>
-      <item row="0" column="0">
-       <widget class="QPushButton" name="gyroCalButton">
-        <property name="text">
-         <string>Start dynamic calibration</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QLabel" name="gyroCalDate">
-        <property name="text">
-         <string>Date unknown</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="magCalButton">
-        <property name="text">
-         <string>Start static calibration</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QLabel" name="magCalLabel">
-        <property name="text">
-         <string>Date unknown</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
+   <item row="0" column="1">
+    <widget class="QComboBox" name="vehicleComboBox"/>
    </item>
-   <item row="0" column="0">
+   <item row="1" column="0" colspan="2">
     <widget class="QGroupBox" name="groupBox_2">
      <property name="title">
       <string>Onboard Parameters</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_3">
-      <property name="margin">
-       <number>6</number>
-      </property>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label">
-        <property name="text">
-         <string>Vehicle</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1" colspan="2">
-       <widget class="QComboBox" name="vehicleComboBox"/>
-      </item>
-      <item row="1" column="0" colspan="3">
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
        <widget class="QStackedWidget" name="stackedWidget">
+        <property name="currentIndex">
+         <number>0</number>
+        </property>
         <widget class="QWidget" name="page">
          <layout class="QVBoxLayout" name="verticalLayout"/>
         </widget>
@@ -124,6 +44,17 @@
      </layout>
     </widget>
    </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QStackedWidget" name="sensorSettings">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="page_3">
+      <layout class="QVBoxLayout" name="verticalLayout_2"/>
+     </widget>
+     <widget class="QWidget" name="page_4"/>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>

src/ui/QGCParamWidget.cc

@@ -108,9 +108,9 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
 
 void QGCParamWidget::requestParameterList()
 {
-    mav->requestParameters();
-    // Clear view
+    // Clear view and request param list
     clear();
+    mav->requestParameters();
 }
 
 /**
@@ -127,12 +127,34 @@ void QGCParamWidget::setParameters()
 {
     //mav->setParameter(component, parameterName, value);
     // Iterate through all components, through all parameters and emit them
-    /*QMap<int, QTreeWidgetItem>::iterator i;
+    QMap<int, QTreeWidgetItem*>::iterator i;
+    // Iterate through all components / subsystems
     for (i = components->begin(); i != components->end(); ++i)
     {
+        // Get all parameters of this component
         int compid = i.key();
-        i.value()->children();
-    }*/
+        QTreeWidgetItem* item = i.value();
+        for (int j = 0; j < item->childCount(); ++j)
+        {
+            QTreeWidgetItem* param = item->child(j);
+            // First column is name, second column value
+            bool ok = true;
+            QString key = param->data(0, Qt::DisplayRole).toString();
+            float value = param->data(1, Qt::DisplayRole).toFloat(&ok);
+            // Send parameter to MAV
+            if (ok)
+            {
+                emit parameterChanged(compid, key, value);
+                qDebug() << "KEY:" << key << "VALUE:" << value;
+            }
+            else
+            {
+                qDebug() << __FILE__ << __LINE__ << "CONVERSION ERROR!";
+            }
+        }
+    }
+    qDebug() << __FILE__ << __LINE__ << "SETTING ALL PARAMETERS";
+    requestParameterList();
 }
 
 void QGCParamWidget::writeParameters()
@@ -143,4 +165,5 @@ void QGCParamWidget::writeParameters()
 void QGCParamWidget::clear()
 {
     tree->clear();
+    components->clear();
 }

src/ui/QGCSensorSettingsWidget.cc

+#include "QGCSensorSettingsWidget.h"
+#include "ui_QGCSensorSettingsWidget.h"
+
+QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *parent) :
+    QWidget(parent),
+    mav(uas),
+    ui(new Ui::QGCSensorSettingsWidget)
+{
+    ui->setupUi(this);
+
+    connect(ui->sendRawCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRawSensorDataTransmission(bool)));
+    connect(ui->sendControllerCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRawControllerDataTransmission(bool)));
+    connect(ui->sendExtendedCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtendedSystemStatusTransmission(bool)));
+    connect(ui->sendRCCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRCChannelDataTransmission(bool)));
+}
+
+QGCSensorSettingsWidget::~QGCSensorSettingsWidget()
+{
+    delete ui;
+}
+
+void QGCSensorSettingsWidget::changeEvent(QEvent *e)
+{
+    QWidget::changeEvent(e);
+    switch (e->type()) {
+    case QEvent::LanguageChange:
+        ui->retranslateUi(this);
+        break;
+    default:
+        break;
+    }
+}

src/ui/QGCSensorSettingsWidget.h

+#ifndef QGCSENSORSETTINGSWIDGET_H
+#define QGCSENSORSETTINGSWIDGET_H
+
+#include <QWidget>
+
+#include "UASInterface.h"
+
+namespace Ui {
+    class QGCSensorSettingsWidget;
+}
+
+class QGCSensorSettingsWidget : public QWidget {
+    Q_OBJECT
+public:
+    QGCSensorSettingsWidget(UASInterface* uas, QWidget *parent = 0);
+    ~QGCSensorSettingsWidget();
+
+protected:
+    UASInterface* mav;
+    void changeEvent(QEvent *e);
+
+private:
+    Ui::QGCSensorSettingsWidget *ui;
+};
+
+#endif // QGCSENSORSETTINGSWIDGET_H

src/ui/QGCSensorSettingsWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCSensorSettingsWidget</class>
+ <widget class="QWidget" name="QGCSensorSettingsWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>350</width>
+    <height>545</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_4">
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Activate Extended Output</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="margin">
+       <number>6</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QCheckBox" name="sendRawCheckBox">
+        <property name="text">
+         <string>Send RAW Sensor data</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QCheckBox" name="sendExtendedCheckBox">
+        <property name="text">
+         <string>Send extended status</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QCheckBox" name="sendRCCheckBox">
+        <property name="text">
+         <string>Send RC-values</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QCheckBox" name="sendControllerCheckBox">
+        <property name="text">
+         <string>Send raw controller outputs</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="title">
+      <string>Calibration Wizards</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="margin">
+       <number>6</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="gyroCalButton">
+        <property name="text">
+         <string>Start dynamic calibration</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="gyroCalDate">
+        <property name="text">
+         <string>Date unknown</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QPushButton" name="magCalButton">
+        <property name="text">
+         <string>Start static calibration</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="magCalLabel">
+        <property name="text">
+         <string>Date unknown</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>