Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol

qgroundcontrol.pro

@@ -51,11 +51,38 @@ OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
 
+MAVLINK_CONF = ""
+
 exists(user_config.pri) {
     message("----- USING USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
     include(user_config.pri)
 }
 
+INCLUDEPATH += $$BASEDIR/../mavlink/include/common
+
+contains(MAVLINK_CONF, pixhawk) {
+# Remove the default set - it is included anyway
+INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+# PIXHAWK SPECIAL MESSAGES
+INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
+DEFINES += QGC_USE_PIXHAWK_MESSAGES
+}
+
+contains(MAVLINK_CONF, slugs) {
+# Remove the default set - it is included anyway
+INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+# SLUGS SPECIAL MESSAGES
+INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
+DEFINES += QGC_USE_SLUGS_MESSAGES
+}
+
+contains(MAVLINK_CONF, ualberta) {
+# Remove the default set - it is included anyway
+INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+# UALBERTA SPECIAL MESSAGES
+INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
+DEFINES += QGC_USE_UALBERTA_MESSAGES
+}
 
 # }
 # Include general settings for MAVGround
@@ -75,8 +102,7 @@ DEPENDPATH += . \
     plugins
 INCLUDEPATH += . \
     lib/QMapControl \
-    $$BASEDIR/../mavlink/include \
-    $$BASEDIR/../mavlink/include/common
+    $$BASEDIR/../mavlink/include
 
 # ../mavlink/include \
 # MAVLink/include \
@@ -193,6 +219,12 @@ HEADERS += src/MG.h \
     src/ui/map/MAV2DIcon.h \
     src/ui/QGCRemoteControlView.h \
     src/ui/WaypointGlobalView.h \
+    src/ui/RadioCalibration/RadioCalibrationData.h \
+    src/ui/RadioCalibration/RadioCalibrationWindow.h \
+    src/ui/RadioCalibration/AirfoilServoCalibrator.h \
+    src/ui/RadioCalibration/SwitchCalibrator.h \
+    src/ui/RadioCalibration/CurveCalibrator.h \
+    src/ui/RadioCalibration/AbstractCalibrator.h \
     src/ui/map3D/Q3DWidget.h \
     src/ui/map3D/CheetahModel.h \
     src/ui/map3D/CheetahGL.h \
@@ -266,6 +298,12 @@ SOURCES += src/main.cc \
     src/ui/map/Waypoint2DIcon.cc \
     src/ui/map/MAV2DIcon.cc \
     src/ui/QGCRemoteControlView.cc \
+    src/ui/RadioCalibration/RadioCalibrationWindow.cc \
+    src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
+    src/ui/RadioCalibration/SwitchCalibrator.cc \
+    src/ui/RadioCalibration/CurveCalibrator.cc \
+    src/ui/RadioCalibration/AbstractCalibrator.cc \
+    src/ui/RadioCalibration/RadioCalibrationData.cc \
     src/ui/WaypointGlobalView.cc \
     src/ui/map3D/Q3DWidget.cc \
     src/ui/map3D/CheetahModel.cc \
@@ -279,7 +317,7 @@ SOURCES += src/main.cc \
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library
-win32:exists(src/lib/opalrt/OpalApi.h) { 
+win32:exists(src/lib/opalrt/OpalApi.h):exists(C:\OPAL-RT\RT-LAB7.2.4\Common\bin) { 
     message("Building support for Opal-RT")
     LIBS += -LC:\OPAL-RT\RT-LAB7.2.4\Common\bin \
         -lOpalApi

settings/ParameterList.xml

@@ -2,9 +2,9 @@
 
   <!-- Parameters in the top level block -->
   <Block name="TopLevel">
-    <Parameter>
 
-    </Parameter>
+    
+
   </Block>
 
   <!--Parameters related to the navigation block -->
@@ -23,6 +23,117 @@
 
   <!-- Paremters for the Pilot Input/Raw RC block -->
   <Block name="ServoInputs">
+    <!-- Settings for Aileron Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/AileronInput/"
+       SimulinkParameterName="Setpoint0"
+       QGCParamID="AIL_RIGHT_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/AileronInput/"
+       SimulinkParameterName="Setpoint1"
+       QGCParamID="AIL_CENTER_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/AileronInput/"
+       SimulinkParameterName="Setpoint2"
+       QGCParamID="AIL_LEFT_IN"
+       />
+    <!-- Settings for Elevator Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/ElevatorInput/"
+       SimulinkParameterName="Setpoint0"
+       QGCParamID="ELE_DOWN_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/ElevatorInput/"
+       SimulinkParameterName="Setpoint1"
+       QGCParamID="ELE_CENTER_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/ElevatorInput/"
+       SimulinkParameterName="Setpoint2"
+       QGCParamID="ELE_UP_IN"
+       />
+    <!-- Settings for Throttle Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/ThrottleInput/"
+       SimulinkParameterName="Setpoint0"
+       QGCParamID="THR_SET0_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/ThrottleInput/"
+       SimulinkParameterName="Setpoint1"
+       QGCParamID="THR_SET1_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/ThrottleInput/"
+       SimulinkParameterName="Setpoint2"
+       QGCParamID="THR_SET2_IN"
+       />    
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/ThrottleInput/"
+       SimulinkParameterName="Setpoint3"
+       QGCParamID="THR_SET3_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/ThrottleInput/"
+       SimulinkParameterName="Setpoint4"
+       QGCParamID="THR_SET4_IN"
+       />
+    <!-- Settings for Rudder Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/RudderInput/"
+       SimulinkParameterName="Setpoint0"
+       QGCParamID="RUD_LEFT_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/RudderInput/"
+       SimulinkParameterName="Setpoint1"
+       QGCParamID="RUD_CENTER_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/RudderInput/"
+       SimulinkParameterName="Setpoint2"
+       QGCParamID="RUD_RIGHT_IN"
+       />
+    <!-- Settings for Gyro Mode/Gain Switch -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/GyroInput/"
+       SimulinkParameterName="Setpoint0"
+       QGCParamID="GYRO_DEF_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/GyroInput/"
+       SimulinkParameterName="Setpoint1"
+       QGCParamID="GYRO_TOG_IN"
+       />    
+    <!-- Settings for Pitch Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/PitchInput/"
+       SimulinkParameterName="Setpoint0"
+       QGCParamID="PIT_SET0_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/PitchInput/"
+       SimulinkParameterName="Setpoint1"
+       QGCParamID="PIT_SET1_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/PitchInput/"
+       SimulinkParameterName="Setpoint2"
+       QGCParamID="PIT_SET2_IN"
+       />    
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/PitchInput/"
+       SimulinkParameterName="Setpoint3"
+       QGCParamID="PIT_SET3_IN"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/PitchInput/"
+       SimulinkParameterName="Setpoint4"
+       QGCParamID="PIT_SET4_IN"
+       />
 
   </Block>
 

settings/RadioCalibration.xml

+<!-- Values are ordered low center high -->
+<channels>
+  <threeSetpoint name="Aileron" number="1">1000.0, 1500.0, 2000.0</threeSetpoint>
+  <threeSetpoint name="Elevator" number="2">1000.0, 1500.0, 2000.0</threeSetpoint>
+  <threeSetpoint name="Rudder" number="4">1000.0, 1500.0, 2000.0</threeSetpoint>
+  <twoSetpoint name="Gyro" number="5">2000.0, 1000.0</twoSetpoint>
+  <fiveSetpoint name="Pitch" number="6">1000.0, 1250.0, 1500.0, 1750.0, 2000.0</fiveSetpoint>
+  <fiveSetpoint name="Throttle" number="3">1000.0, 1250.0, 1500.0, 1750.0, 2000.0</fiveSetpoint>
+</channels>

src/comm/MAVLinkSimulationLink.cc

@@ -182,7 +182,7 @@ void MAVLinkSimulationLink::mainloop()
 
     mavlink_attitude_t attitude;
     memset(&attitude, 0, sizeof(mavlink_attitude_t));
-    #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+    #ifdef MAVLINK_ENABLED_PIXHAWK
       mavlink_raw_aux_t rawAuxValues;
       memset(&rawAuxValues, 0, sizeof(mavlink_raw_aux_t));
     #endif
@@ -305,7 +305,7 @@ void MAVLinkSimulationLink::mainloop()
                     {
                         rawImuValues.zgyro = d;
                     }
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
                     if (keys.value(i, "") == "Pressure")
                     {
                         rawAuxValues.baro = d;
@@ -468,7 +468,7 @@ void MAVLinkSimulationLink::mainloop()
         static int detectionCounter = 6;
         if (detectionCounter % 10 == 0)
         {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
             mavlink_pattern_detected_t detected;
             detected.confidence = 5.0f;
 
@@ -582,7 +582,7 @@ void MAVLinkSimulationLink::mainloop()
         uint8_t visLock = 3;
         uint8_t posLock = qMax(gpsLock, visLock);
 
-        #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+        #ifdef MAVLINK_ENABLED_PIXHAWK
         messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, attControl, posXYControl, posZControl, posYawControl);
         #endif
 
@@ -619,7 +619,7 @@ void MAVLinkSimulationLink::mainloop()
         //qDebug() << "BOOT" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
 
         // AUX STATUS
-        #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+        #ifdef MAVLINK_ENABLED_PIXHAWK
         rawAuxValues.vbat = voltage;
 #endif
 
@@ -760,14 +760,12 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     }
                 }
                 break;
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
             case MAVLINK_MSG_ID_MANUAL_CONTROL:
                 {
-                  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
                     mavlink_manual_control_t control;
                     mavlink_msg_manual_control_decode(&msg, &control);
                     qDebug() << "\n" << "ROLL:" << control.roll << "PITCH:" << control.pitch;
-                  #endif
                 }
                 break;
 #endif

src/comm/OpalLink.cc

@@ -40,7 +40,8 @@ OpalLink::OpalLink() :
         systemID(1),
         componentID(1),
         params(NULL),
-        opalInstID(101)
+        opalInstID(101),
+        sendRCValues(false)
 {
     start(QThread::LowPriority);
 
@@ -133,6 +134,77 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
                 }
             }
             break;
+        case MAVLINK_MSG_ID_REQUEST_RC_CHANNELS:
+        {
+        	mavlink_request_rc_channels_t rc;
+        	mavlink_msg_request_rc_channels_decode(&msg, &rc);        	
+        	this->sendRCValues = static_cast<bool>(rc.enabled);
+        }
+        break;
+#ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
+        case MAVLINK_MSG_ID_RADIO_CALIBRATION:
+        {
+            mavlink_radio_calibration_t radio;
+            mavlink_msg_radio_calibration_decode(&msg, &radio);
+//            qDebug() << "RADIO CALIBRATION RECEIVED";
+//            qDebug() << "AILERON: " << radio.aileron[0] << " " << radio.aileron[1] << " " << radio.aileron[2];
+//            qDebug() << "ELEVATOR: " << radio.elevator[0] << " " << radio.elevator[1] << " " << radio.elevator[2];
+//            qDebug() << "RUDDER: " << radio.rudder[0] << " " << radio.rudder[1] << " " << radio.rudder[2];
+//            qDebug() << "GYRO: " << radio.gyro[0] << " " << radio.gyro[1];
+//            qDebug() << "PITCH: " << radio.pitch[0] << radio.pitch[1] << radio.pitch[2] << radio.pitch[3] << radio.pitch[4];
+//            qDebug() << "THROTTLE: " << radio.throttle[0] << radio.throttle[1] << radio.throttle[2] << radio.throttle[3] << radio.throttle[4];
+
+            /* AILERON SERVO */
+            if (params->contains(OpalRT::SERVO_INPUTS, "AIL_RIGHT_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "AIL_RIGHT_IN").setValue(((radio.aileron[0]>900 /*in us?*/)?radio.aileron[0]/1000:radio.aileron[0]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "AIL_CENTER_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "AIL_CENTER_IN").setValue(((radio.aileron[1]>900 /*in us?*/)?radio.aileron[1]/1000:radio.aileron[1]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "AIL_LEFT_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "AIL_LEFT_IN").setValue(((radio.aileron[2]>900 /*in us?*/)?radio.aileron[2]/1000:radio.aileron[2]));
+            /* ELEVATOR SERVO */
+            if (params->contains(OpalRT::SERVO_INPUTS, "ELE_DOWN_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "ELE_DOWN_IN").setValue(((radio.elevator[0]>900 /*in us?*/)?radio.elevator[0]/1000:radio.elevator[0]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "ELE_CENTER_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "ELE_CENTER_IN").setValue(((radio.elevator[1]>900 /*in us?*/)?radio.elevator[1]/1000:radio.elevator[1]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "ELE_UP_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "ELE_UP_IN").setValue(((radio.elevator[2]>900 /*in us?*/)?radio.elevator[2]/1000:radio.elevator[2]));
+            /* THROTTLE SERVO */
+            if (params->contains(OpalRT::SERVO_INPUTS, "THR_SET0_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "THR_SET0_IN").setValue(((radio.throttle[0]>900 /*in us?*/)?radio.throttle[0]/1000:radio.throttle[0]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "THR_SET1_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "THR_SET1_IN").setValue(((radio.throttle[1]>900 /*in us?*/)?radio.throttle[1]/1000:radio.throttle[1]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "THR_SET2_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "THR_SET2_IN").setValue(((radio.throttle[2]>900 /*in us?*/)?radio.throttle[2]/1000:radio.throttle[2]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "THR_SET3_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "THR_SET3_IN").setValue(((radio.throttle[3]>900 /*in us?*/)?radio.throttle[3]/1000:radio.throttle[3]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "THR_SET4_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "THR_SET4_IN").setValue(((radio.throttle[4]>900 /*in us?*/)?radio.throttle[4]/1000:radio.throttle[4]));
+            /* RUDDER SERVO */
+            if (params->contains(OpalRT::SERVO_INPUTS, "RUD_LEFT_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "RUD_LEFT_IN").setValue(((radio.rudder[0]>900 /*in us?*/)?radio.rudder[0]/1000:radio.rudder[0]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "RUD_CENTER_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "RUD_CENTER_IN").setValue(((radio.rudder[1]>900 /*in us?*/)?radio.rudder[1]/1000:radio.rudder[1]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "RUD_RIGHT_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "RUD_RIGHT_IN").setValue(((radio.rudder[2]>900 /*in us?*/)?radio.rudder[2]/1000:radio.rudder[2]));
+            /* GYRO MODE/GAIN SWITCH */
+            if (params->contains(OpalRT::SERVO_INPUTS, "GYRO_DEF_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "GYRO_DEF_IN").setValue(((radio.gyro[0]>900 /*in us?*/)?radio.gyro[0]/1000:radio.gyro[0]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "GYRO_TOG_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "GYRO_TOG_IN").setValue(((radio.gyro[1]>900 /*in us?*/)?radio.gyro[1]/1000:radio.gyro[1]));
+            /* PITCH SERVO */
+            if (params->contains(OpalRT::SERVO_INPUTS, "PIT_SET0_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "PIT_SET0_IN").setValue(((radio.pitch[0]>900 /*in us?*/)?radio.pitch[0]/1000:radio.pitch[0]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "PIT_SET1_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "PIT_SET1_IN").setValue(((radio.pitch[1]>900 /*in us?*/)?radio.pitch[1]/1000:radio.pitch[1]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "PIT_SET2_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "PIT_SET2_IN").setValue(((radio.pitch[2]>900 /*in us?*/)?radio.pitch[2]/1000:radio.pitch[2]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "PIT_SET3_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "PIT_SET3_IN").setValue(((radio.pitch[3]>900 /*in us?*/)?radio.pitch[3]/1000:radio.pitch[3]));
+            if (params->contains(OpalRT::SERVO_INPUTS, "PIT_SET4_IN"))
+                params->getParameter(OpalRT::SERVO_INPUTS, "PIT_SET4_IN").setValue(((radio.pitch[4]>900 /*in us?*/)?radio.pitch[4]/1000:radio.pitch[4]));
+        }
+        break;
+#endif
         default:
             {
                 qDebug() << "OpalLink::writeBytes(): Unknown mavlink packet";
@@ -248,6 +320,8 @@ void OpalLink::getSignals()
             receiveMessage(bias);
 
             /* send radio outputs */
+            if (sendRCValues)
+            {
                 mavlink_message_t rc;
                 mavlink_msg_rc_channels_pack(systemID, componentID, &rc,
                                              duty2PulseMicros(values[OpalRT::RAW_CHANNEL_1]),
@@ -258,18 +332,19 @@ void OpalLink::getSignals()
                                              duty2PulseMicros(values[OpalRT::RAW_CHANNEL_6]),
                                              duty2PulseMicros(values[OpalRT::RAW_CHANNEL_7]),
                                              duty2PulseMicros(values[OpalRT::RAW_CHANNEL_8]),
-                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_1]*255),
-                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_2]*255),
-                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_3]*255),
-                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_4]*255),
-                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_5]*255),
-                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_6]*255),
-                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_7]*255),
-                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_8]*255),
+                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_1], OpalRT::NORM_CHANNEL_1),
+                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_2], OpalRT::NORM_CHANNEL_2),
+                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_3], OpalRT::NORM_CHANNEL_3),
+                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_4], OpalRT::NORM_CHANNEL_4),
+                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_5], OpalRT::NORM_CHANNEL_5),
+                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_6], OpalRT::NORM_CHANNEL_6),
+                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_7], OpalRT::NORM_CHANNEL_7),
+                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_8], OpalRT::NORM_CHANNEL_8),
                                              0 //rssi unused
                                              );
                 receiveMessage(rc);
             }
+        }        
         else if (returnVal != EAGAIN) // if returnVal == EAGAIN => data just wasn't ready
         {
             getSignalsTimer->stop();
@@ -323,14 +398,33 @@ uint16_t OpalLink::duty2PulseMicros(double duty)
     return static_cast<uint16_t>(duty/70*1000000);
 }
 
+uint8_t OpalLink::rescaleNorm(double norm, int ch)
+{
+    switch(ch)
+    {
+    case OpalRT::NORM_CHANNEL_1:
+    case OpalRT::NORM_CHANNEL_2:
+    case OpalRT::NORM_CHANNEL_4:
+    default:
+        // three setpoints
+        return static_cast<uint8_t>((norm+1)/2*255);
+        break;
+    case OpalRT::NORM_CHANNEL_5:
+        //two setpoints
+    case OpalRT::NORM_CHANNEL_3:
+    case OpalRT::NORM_CHANNEL_6:        
+        return static_cast<uint8_t>(norm*255);
+        break;
+    }
 
 
+}
+
 
 bool OpalLink::connect()
 {
     short modelState;
 
-    /// \todo allow configuration of instid in window    
     if ((OpalConnect(opalInstID, false, &modelState) == EOK)
         && (OpalGetSignalControl(0, true) == EOK)
         && (OpalGetParameterControl(true) == EOK))

src/comm/OpalLink.h

@@ -152,6 +152,9 @@ protected:
     unsigned short opalInstID;
 
     uint16_t duty2PulseMicros(double duty);
+    uint8_t rescaleNorm(double norm, int ch);
+
+    bool sendRCValues;
 };
 
 #endif // OPALLINK_H

src/comm/OpalRT.h

@@ -41,7 +41,7 @@ namespace OpalRT
       Configuration info for the model
      */
 
-    const unsigned short NUM_OUTPUT_SIGNALS=57;
+    const unsigned short NUM_OUTPUT_SIGNALS=42;
 
     /*  ------------------------------ Outputs ------------------------------
     *
@@ -86,7 +86,7 @@ namespace OpalRT
         B_W_0,
         B_W_1,
         B_W_2,
-        RAW_CHANNEL_1 = 39,
+        RAW_CHANNEL_1 = 24,
         RAW_CHANNEL_2,
         RAW_CHANNEL_3,
         RAW_CHANNEL_4,

src/comm/ParameterList.cc

@@ -32,7 +32,8 @@ using namespace OpalRT;
 
 ParameterList::ParameterList()
     :params(new QMap<int, QMap<QGCParamID, Parameter> >),
-    paramList(new QList<QList<Parameter*> >())
+    paramList(new QList<QList<Parameter*> >()),
+    reqdServoParams(new QStringList())
 {
 
     QDir settingsDir = QDir(qApp->applicationDirPath());
@@ -40,40 +41,20 @@ ParameterList::ParameterList()
         settingsDir.cdUp();
     settingsDir.cd("settings");
 
+    // Enforce a list of parameters which are necessary for flight
+    reqdServoParams->append("AIL_RIGHT_IN");
+    reqdServoParams->append("AIL_CENTER_IN");
+    reqdServoParams->append("AIL_LEFT_IN");
+    reqdServoParams->append("ELE_DOWN_IN");
+    reqdServoParams->append("ELE_CENTER_IN");
+    reqdServoParams->append("ELE_UP_IN");
+    reqdServoParams->append("RUD_LEFT_IN");
+    reqdServoParams->append("RUD_CENTER_IN");
+    reqdServoParams->append("RUD_RIGHT_IN");
+
     QString filename(settingsDir.path() + "/ParameterList.xml");
     if ((QFile::exists(filename)) && open(filename))
     {
-        /* Populate the map with parameter names.  There is no elegant way of doing this so all
-       parameter paths and names must be known at compile time and defined here.
-       Note: This function is written in a way that calls a lot of copy constructors and is
-           therefore not particularly efficient.  However since it is only called once memory
-           and computation time are sacrificed for code clarity when adding and modifying
-           parameters.
-           When defining the path, the trailing slash is necessary
-       */
-        //    Parameter *p;
-        //    /* Component: Navigation Filter */
-        //    p = new Parameter("avionics_src/sm_ampro/NAV_FILT_INIT/",
-        //                            "Value",
-        //                            OpalRT::NAV_ID,
-        //                            QGCParamID("NAV_FILT_INIT"));
-        //    (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
-        //    delete p;
-        //
-        //    p = new Parameter("avionics_src/sm_ampro/Gain/",
-        //                            "Gain",
-        //                            OpalRT::NAV_ID,
-        //                            QGCParamID("TEST_OUTP_GAIN"));
-        //    (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
-        //    delete p;
-        //
-        //    /* Component: Log Facility */
-        //    p = new Parameter("avionics_src/sm_ampro/LOG_FILE_ON/",
-        //                            "Value",
-        //                            OpalRT::LOG_ID,
-        //                            QGCParamID("LOG_FILE_ON"));
-        //    (*params)[OpalRT::LOG_ID].insert(p->getParamID(), *p);
-        //    delete p;
 
         /* Get a list of the available parameters from opal-rt */
         QMap<QString, unsigned short> *opalParams = new QMap<QString, unsigned short>;
@@ -271,6 +252,8 @@ bool ParameterList::open(QString filename)
 
     read(&paramFile);
 
+    paramFile.close();
+
     return true;
 }
 
@@ -336,11 +319,25 @@ void ParameterList::parseBlock(const QDomElement &block)
                                   static_cast<uint8_t>(id),
                                   QGCParamID(e.attribute("QGCParamID")));
                 (*params)[id].insert(p->getParamID(), *p);
+                if (reqdServoParams->contains((QString)p->getParamID()))
+                    reqdServoParams->removeAt(reqdServoParams->indexOf((QString)p->getParamID()));
+
                 delete p;
+
+
             }            
             else
             {
-                qDebug() << __FILE__ << ":" << __LINE__ << ": error in xml doc";
+                qDebug() << __FILE__ << ":" << __LINE__ << ": error in xml doc in block" << block.attribute("name");
+            }
+        }
+
+        if (!reqdServoParams->empty())
+        {
+            qDebug() << __FILE__ << __LINE__ << "Missing the following required servo parameters";
+            foreach(QString s, *reqdServoParams)
+            {
+                qDebug() << s;
             }
         }
 

src/comm/ParameterList.h

@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDir>
 #include <QApplication>
 #include <QtXml>
+#include <QStringList>
 
 #include "mavlink_types.h"
 #include "QGCParamID.h"
@@ -119,6 +120,10 @@ namespace OpalRT
           are made through the map container.
           */
         QList<QList<Parameter*> > *paramList;
+        /**
+          List of parameters which are necessary to control the servos.
+          */
+        QStringList *reqdServoParams;
         /**
           Get the list of available parameters from Opal-RT.
           \param[out] opalParams Map of parameter paths/names to ids which are valid in Opal-RT

src/comm/QGCMAVLink.h

@@ -49,4 +49,6 @@ This file is part of the QGROUNDCONTROL project
 #include <ardupilot.h>
 #endif
 
+
 #endif // QGCMAVLINK_H
+

src/uas/PxQuadMAV.cc

@@ -46,7 +46,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
     //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
 
 // Only compile this portion if matching MAVLink packets have been compiled
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
 
     if (message.sysid == uasId)
     {
@@ -169,7 +169,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
 void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
     mavlink_watchdog_command_t payload;
     payload.target_system_id = uasId;
     payload.watchdog_id = watchdogId;

src/uas/SlugsMAV.cc

@@ -53,7 +53,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
         }
 
-#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES_QGC
+#ifdef MAVLINK_ENABLED_SLUGS
 
     case MAVLINK_MSG_ID_CPU_LOAD:
         {

src/uas/UAS.cc

@@ -556,7 +556,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit textMessageReceived(uasId, message.compid, severity, text);
             }
             break;
-#ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
+#ifdef MAVLINK_ENABLED_UALBERTA
         case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
             {
                 mavlink_nav_filter_bias_t bias;
@@ -570,6 +570,41 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "b_w[2]", bias.gyro_2, time);
             }
             break;
+       case MAVLINK_MSG_ID_RADIO_CALIBRATION:
+            {
+                mavlink_radio_calibration_t radioMsg;
+                mavlink_msg_radio_calibration_decode(&message, &radioMsg);
+                QVector<float> aileron;
+                QVector<float> elevator;
+                QVector<float> rudder;
+                QVector<float> gyro;
+                QVector<float> pitch;
+                QVector<float> throttle;
+
+                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN; ++i)
+                    aileron << radioMsg.aileron[i];
+                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN; ++i)
+                    elevator << radioMsg.elevator[i];
+                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN; ++i)
+                    rudder << radioMsg.rudder[i];
+                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN; ++i)
+                    gyro << radioMsg.gyro[i];
+                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN; ++i)
+                    pitch << radioMsg.pitch[i];
+                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN; ++i)
+                    throttle << radioMsg.throttle[i];
+
+                QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron,
+                                                                                    elevator,
+                                                                                    rudder,
+                                                                                    gyro,
+                                                                                    pitch,
+                                                                                    throttle);
+                emit radioCalibrationReceived(radioData);
+                delete radioData;
+            }
+            break;
+
 #endif
         default:
             {
@@ -588,7 +623,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
 void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
 {
-  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+  #ifdef MAVLINK_ENABLED_PIXHAWK
     mavlink_message_t msg;
     mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw);
     sendMessage(msg);
@@ -597,7 +632,7 @@ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
 
 void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
   mavlink_message_t msg;
   mavlink_msg_position_control_offset_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw);
   sendMessage(msg);
@@ -827,7 +862,7 @@ void UAS::readParametersFromStorage()
 
 void UAS::enableAllDataTransmission(bool enabled)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -853,7 +888,7 @@ void UAS::enableAllDataTransmission(bool enabled)
 
 void UAS::enableRawSensorDataTransmission(bool enabled)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -877,7 +912,7 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
 
 void UAS::enableExtendedSystemStatusTransmission(bool enabled)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -901,7 +936,7 @@ void UAS::enableExtendedSystemStatusTransmission(bool enabled)
 
 void UAS::enableRCChannelDataTransmission(bool enabled)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -920,12 +955,16 @@ void UAS::enableRCChannelDataTransmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#elif defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
+    mavlink_message_t msg;
+    mavlink_msg_request_rc_channels_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, enabled);
+    sendMessage(msg);
 #endif
 }
 
 void UAS::enableRawControllerDataTransmission(bool enabled)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -949,7 +988,7 @@ void UAS::enableRawControllerDataTransmission(bool enabled)
 
 void UAS::enableRawSensorFusionTransmission(bool enabled)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -973,7 +1012,7 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
 
 void UAS::enablePositionTransmission(bool enabled)
 {
-#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+#ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -997,7 +1036,7 @@ void UAS::enablePositionTransmission(bool enabled)
 
 void UAS::enableExtra1Transmission(bool enabled)
 {
-  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+  #ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -1021,7 +1060,7 @@ void UAS::enableExtra1Transmission(bool enabled)
 
 void UAS::enableExtra2Transmission(bool enabled)
 {
-  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+  #ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -1045,7 +1084,7 @@ void UAS::enableExtra2Transmission(bool enabled)
 
 void UAS::enableExtra3Transmission(bool enabled)
 {
-  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+  #ifdef MAVLINK_ENABLED_PIXHAWK
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -1161,7 +1200,7 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
 
 //    if(mode == (int)MAV_MODE_MANUAL)
 //    {
-      #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+      #ifdef MAVLINK_ENABLED_PIXHAWK
         mavlink_message_t message;
         mavlink_msg_manual_control_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
         sendMessage(message);
@@ -1191,7 +1230,7 @@ void UAS::receiveButton(int buttonIndex)
 
         break;
     }
-    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";
+//    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";
 
 }
 

src/uas/UASInterface.h

@@ -36,10 +36,12 @@ This file is part of the QGROUNDCONTROL project
 #include <QList>
 #include <QAction>
 #include <QColor>
+#include <QPointer>
 
 #include "LinkInterface.h"
 #include "ProtocolInterface.h"
 #include "UASWaypointManager.h"
+#include "RadioCalibration/RadioCalibrationData.h"
 
 /**
  * @brief Interface for all robots.
@@ -354,6 +356,8 @@ signals:
     void remoteControlChannelChanged(int channelId, float raw, float normalized);
     /** @brief Remote control RSSI changed */
     void remoteControlRSSIChanged(float rssi);
+    /** @brief Radio Calibration Data has been received from the MAV*/
+    void radioCalibrationReceived(const QPointer<RadioCalibrationData>&);
 
     /**
      * @brief Localization quality changed

src/ui/QGCRemoteControlView.cc

@@ -25,6 +25,7 @@ This file is part of the QGROUNDCONTROL project
  * @file
  *   @brief Implementation of QGCRemoteControlView
  *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ *   @author Bryan Godbolt <godbolt@ece.ualberta.ca>
  */
 
 #include <QGridLayout>
@@ -70,6 +71,14 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     layout->addItem(rssiLayout, 2, 0, 1, 2);
     setVisible(false);
 
+    calibrate = new QPushButton(tr("Calibrate"), this);
+    QHBoxLayout *calibrateButtonLayout = new QHBoxLayout();
+    calibrateButtonLayout->addWidget(calibrate, 0, Qt::AlignHCenter);
+    layout->addItem(calibrateButtonLayout, 3, 0, 1, 2);
+
+    calibrationWindow = new RadioCalibrationWindow(this);
+    connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show()));
+
     connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(setUASId(int)));
 }
 
@@ -89,6 +98,8 @@ void QGCRemoteControlView::setUASId(int id)
             // The UAS exists, disconnect any existing connections
             disconnect(uas, SIGNAL(remoteControlChannelChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
             disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
+            disconnect(uas, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
+            disconnect(uas, SIGNAL(remoteControlChannelChanged(int,float,float)), calibrationWindow, SLOT(setChannel(int,float,float)));
         }
     }
 
@@ -98,7 +109,10 @@ void QGCRemoteControlView::setUASId(int id)
     {
         // New UAS exists, connect
         nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
+        calibrationWindow->setUASId(id);
+        connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
         connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
+        connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), calibrationWindow, SLOT(setChannel(int,float,float)));
         connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
     }
 }
@@ -173,7 +187,7 @@ void QGCRemoteControlView::changeEvent(QEvent *e)
     QWidget::changeEvent(e);
     switch (e->type()) {
     case QEvent::LanguageChange:
-        ui->retranslateUi(this);
+        //ui->retranslateUi(this);
         break;
     default:
         break;

src/ui/QGCRemoteControlView.h

@@ -32,6 +32,9 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QWidget>
 #include <QVector>
+#include <QPushButton>
+
+#include "RadioCalibration/RadioCalibrationWindow.h"
 
 namespace Ui {
     class QGCRemoteControlView;
@@ -68,6 +71,8 @@ protected:
     QVector<QProgressBar*> progressBars;
     QProgressBar* rssiBar;
     QLabel* nameLabel;
+    QPushButton *calibrate;
+    RadioCalibrationWindow *calibrationWindow;
 
 private:
     Ui::QGCRemoteControlView *ui;

src/ui/RadioCalibration/AbstractCalibrator.cc

+#include "AbstractCalibrator.h"
+
+AbstractCalibrator::AbstractCalibrator(QWidget *parent) :
+    QWidget(parent),
+    pulseWidth(new QLabel()),
+    log(new QVector<float>())
+{
+}
+
+AbstractCalibrator::~AbstractCalibrator()
+{
+    delete log;
+}
+
+float AbstractCalibrator::logAverage()
+{
+    float total = 0;
+    for (int i=0; i<log->size(); ++i)
+        total += log->value(i);
+    return floor(total/log->size());
+}
+
+float AbstractCalibrator::logExtrema()
+{
+    float extrema = logAverage();
+    if (logAverage() < 1500)
+    {
+        for (int i=0; i<log->size(); ++i)
+        {
+            if (log->value(i) < extrema)
+                extrema = log->value(i);
+        }
+        extrema -= 5; // add 5us to prevent integer overflow
+    }
+    else
+    {
+        for (int i=0; i<log->size(); ++i)
+        {
+            if (log->value(i) > extrema)
+                extrema = log->value(i);
+        }
+        extrema += 5; // subtact 5us to prevent integer overflow
+    }
+
+    return extrema;
+}
+
+void AbstractCalibrator::channelChanged(float raw)
+{
+    pulseWidth->setText(QString::number(static_cast<double>(raw)));
+    if (log->size() == 5)
+        log->pop_front();
+    log->push_back(raw);
+}

src/ui/RadioCalibration/AbstractCalibrator.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Common aspects of radio calibration widgets
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef ABSTRACTCALIBRATOR_H
+#define ABSTRACTCALIBRATOR_H
+
+#include <QWidget>
+#include <QString>
+#include <QLabel>
+#include <QVector>
+
+#include <math.h>
+
+/**
+  @brief Holds the code which is common to all the radio calibration widgets.
+
+  @author Bryan Godbolt <godbolt@ece.ualberta.ca>
+  */
+class AbstractCalibrator : public QWidget
+{
+Q_OBJECT
+public:
+    explicit AbstractCalibrator(QWidget *parent = 0);
+    ~AbstractCalibrator();
+
+    /** Change the setpoints of the widget.  Used when
+      changing the display from an external source (file/uav).
+      @param data QVector of setpoints
+      */
+    virtual void set(const QVector<float>& data)=0;
+signals:
+    /** Announce a setpoint change.
+      @param index setpoint number - 0 based in the current implementation
+      @param value new value
+      */
+    void setpointChanged(int index, float value);
+
+public slots:
+    /** Slot to call when the relevant channel is updated
+     @param raw current channel value
+     */
+    void channelChanged(float raw);
+
+protected:
+    /** Display the current pulse width */
+    QLabel *pulseWidth;
+
+    /** Log of the past few samples for use in averaging and finding extrema */
+    QVector<float> *log;
+    /** Find the maximum or minimum of the data log */
+    float logExtrema();
+    /** Find the average of the log */
+    float logAverage();
+};
+
+#endif // ABSTRACTCALIBRATOR_H

src/ui/RadioCalibration/AirfoilServoCalibrator.cc

+#include "AirfoilServoCalibrator.h"
+
+AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent) :
+    AbstractCalibrator(parent),    
+    highPulseWidth(new QLabel()),
+    centerPulseWidth(new QLabel()),
+    lowPulseWidth(new QLabel())
+{
+    QGridLayout *grid = new QGridLayout(this);
+
+    /* Add title */
+    QHBoxLayout *titleLayout = new QHBoxLayout();
+    QLabel *title;
+    if (type == AILERON)
+    {
+        title = new QLabel(tr("Aileron"));
+    }
+    else if (type == ELEVATOR)
+    {
+        title = new QLabel(tr("Elevator"));
+    }
+    else if (type == RUDDER)
+    {
+        title = new QLabel(tr("Rudder"));
+    }
+
+    titleLayout->addWidget(title);
+    grid->addLayout(titleLayout, 0, 0, 1, 3, Qt::AlignHCenter);
+
+    /* Add current Pulse Width Display */
+    QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
+    QHBoxLayout *pulseLayout = new QHBoxLayout();
+    pulseLayout->addWidget(pulseWidthTitle);
+    pulseLayout->addWidget(pulseWidth);
+    grid->addLayout(pulseLayout, 1, 0, 1, 3);
+
+    QLabel *highPulseString;
+    QLabel *centerPulseString;
+    QLabel *lowPulseString;
+    if (type == AILERON)
+    {
+        highPulseString = new QLabel(tr("Bank Left"));
+        centerPulseString = new QLabel(tr("Center"));
+        lowPulseString = new QLabel(tr("Bank Right"));
+    }
+    else if (type == ELEVATOR)
+    {
+        highPulseString = new QLabel(tr("Nose Down"));
+        centerPulseString = new QLabel(tr("Center"));
+        lowPulseString = new QLabel(tr("Nose Up"));
+    }
+    else if (type == RUDDER)
+    {
+        highPulseString = new QLabel(tr("Nose Left"));
+        centerPulseString = new QLabel(tr("Center"));
+        lowPulseString = new QLabel(tr("Nose Right"));
+    }
+    else
+    {
+        highPulseString = new QLabel(tr("High"));
+        centerPulseString = new QLabel(tr("Center"));
+        lowPulseString = new QLabel(tr("Low"));
+    }
+
+
+    QPushButton *highButton = new QPushButton(tr("Set"));
+    QPushButton *centerButton = new QPushButton(tr("Set"));
+    QPushButton *lowButton = new QPushButton(tr("Set"));
+
+    grid->addWidget(highPulseString, 2, 0);
+    grid->addWidget(highPulseWidth, 2, 1);
+    grid->addWidget(highButton, 2, 2);
+
+    grid->addWidget(centerPulseString, 3, 0);
+    grid->addWidget(centerPulseWidth, 3, 1);
+    grid->addWidget(centerButton, 3, 2);
+
+    grid->addWidget(lowPulseString, 4, 0);
+    grid->addWidget(lowPulseWidth, 4, 1);
+    grid->addWidget(lowButton, 4, 2);
+
+    this->setLayout(grid);
+
+    connect(highButton, SIGNAL(clicked()), this, SLOT(setHigh()));
+    connect(centerButton, SIGNAL(clicked()), this, SLOT(setCenter()));
+    connect(lowButton, SIGNAL(clicked()), this, SLOT(setLow()));
+}
+
+
+
+void AirfoilServoCalibrator::setHigh()
+{
+    highPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    emit setpointChanged(2, logExtrema());
+}
+
+void AirfoilServoCalibrator::setCenter()
+{
+    centerPulseWidth->setText(QString::number(static_cast<double>(logAverage())));
+    emit setpointChanged(1, logAverage());
+}
+
+void AirfoilServoCalibrator::setLow()
+{
+    lowPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    emit setpointChanged(0, logExtrema());
+}
+
+void AirfoilServoCalibrator::set(const QVector<float> &data)
+{
+    if (data.size() == 3)
+    {
+        lowPulseWidth->setText(QString::number(data[0]));
+        centerPulseWidth->setText(QString::number(data[1]));
+        highPulseWidth->setText(QString::number(data[2]));
+    }
+}

src/ui/RadioCalibration/AirfoilServoCalibrator.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Calibration widget for 3 point airfoil servo
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef AIRFOILSERVOCALIBRATOR_H
+#define AIRFOILSERVOCALIBRATOR_H
+
+#include <QWidget>
+#include <QLabel>
+#include <QPushButton>
+#include <QVector>
+#include <QGridLayout>
+#include <QHBoxLayout>
+
+#include "AbstractCalibrator.h"
+
+/**
+  @brief Calibration widget three setpoint control input.
+   For the helicopter autopilot at UAlberta this is used for Aileron, Elevator, and Rudder channels.
+
+  @author Bryan Godbolt <godbolt@ece.ualberta.ca>
+  */
+class AirfoilServoCalibrator : public AbstractCalibrator
+{
+Q_OBJECT
+public:
+    enum AirfoilType
+    {
+        AILERON,
+        ELEVATOR,
+        RUDDER
+    };
+
+    explicit AirfoilServoCalibrator(AirfoilType type = AILERON, QWidget *parent = 0);
+
+    /** @param data must have exaclty 3 elemets.  they are assumed to be low center high */
+    void set(const QVector<float>& data);
+
+protected slots:
+    void setHigh();
+    void setCenter();
+    void setLow();
+
+protected:    
+    QLabel *highPulseWidth;
+    QLabel *centerPulseWidth;
+    QLabel *lowPulseWidth;
+};
+
+#endif // AIRFOILSERVOCALIBRATOR_H

src/ui/RadioCalibration/CurveCalibrator.cc

+#include "CurveCalibrator.h"
+
+CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
+    AbstractCalibrator(parent),
+    setpoints(new QVector<double>(5)),
+    positions(new QVector<double>())
+{
+    QGridLayout *grid = new QGridLayout(this);
+    QLabel *title = new QLabel(titleString);
+    grid->addWidget(title, 0, 0, 1, 5, Qt::AlignHCenter);
+
+    QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
+    pulseWidth = new QLabel();
+    QHBoxLayout *pulseLayout = new QHBoxLayout();
+    pulseLayout->addWidget(pulseWidthTitle);
+    pulseLayout->addWidget(pulseWidth);
+    grid->addLayout(pulseLayout, 1, 0, 1, 5, Qt::AlignHCenter);
+
+    for (int i=0; i<=100; i=i+100/4)
+        positions->append(static_cast<double>(i));
+
+
+    setpoints->fill(1500);
+
+    plot = new QwtPlot();
+
+    grid->addWidget(plot, 2, 0, 1, 5, Qt::AlignHCenter);
+
+
+    plot->setAxisScale(QwtPlot::yLeft, 1000, 2000, 200);
+    plot->setAxisScale(QwtPlot::xBottom, 0, 100, 25);
+
+    curve = new QwtPlotCurve();
+    curve->setPen(QPen(QColor(QString("lime"))));
+    curve->setData(*positions, *setpoints);    
+    curve->attach(plot);
+
+    plot->replot();
+
+    QPushButton *zero = new QPushButton(tr("0 %"));
+    QPushButton *twentyfive = new QPushButton(tr("25 %"));
+    QPushButton *fifty = new QPushButton(tr("50 %"));
+    QPushButton *seventyfive = new QPushButton(tr("75 %"));
+    QPushButton *hundred = new QPushButton(tr("100 %"));
+
+    grid->addWidget(zero, 3, 0);
+    grid->addWidget(twentyfive, 3, 1);
+    grid->addWidget(fifty, 3, 2);
+    grid->addWidget(seventyfive, 3, 3);
+    grid->addWidget(hundred, 3, 4);
+
+    this->setLayout(grid);
+
+    signalMapper = new QSignalMapper(this);
+    signalMapper->setMapping(zero, 0);
+    signalMapper->setMapping(twentyfive, 1);
+    signalMapper->setMapping(fifty, 2);
+    signalMapper->setMapping(seventyfive, 3);
+    signalMapper->setMapping(hundred, 4);
+
+    connect(zero, SIGNAL(clicked()), signalMapper, SLOT(map()));
+    connect(twentyfive, SIGNAL(clicked()), signalMapper, SLOT(map()));
+    connect(fifty, SIGNAL(clicked()), signalMapper, SLOT(map()));
+    connect(seventyfive, SIGNAL(clicked()), signalMapper, SLOT(map()));
+    connect(hundred, SIGNAL(clicked()), signalMapper, SLOT(map()));
+    connect(signalMapper, SIGNAL(mapped(int)), this, SLOT(setSetpoint(int)));
+}
+
+CurveCalibrator::~CurveCalibrator()
+{
+    delete setpoints;
+    delete positions;
+}
+
+void CurveCalibrator::setSetpoint(int setpoint)
+{   
+    if (setpoint == 0 || setpoint == 4)
+    {
+        setpoints->replace(setpoint, static_cast<double>(logExtrema()));
+    }
+    else
+    {
+        setpoints->replace(setpoint, static_cast<double>(logAverage()));
+    }
+    curve->setData(*positions, *setpoints);
+    plot->replot();
+
+    emit setpointChanged(setpoint, static_cast<float>(setpoints->value(setpoint)));
+}
+
+void CurveCalibrator::set(const QVector<float> &data)
+{
+    if (data.size() == 5)
+    {
+        for (int i=0; i<data.size(); ++i)
+            setpoints->replace(i, static_cast<double>(data[i]));
+        curve->setData(*positions, *setpoints);
+        plot->replot();
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << ": wrong data vector size";
+    }
+}

src/ui/RadioCalibration/CurveCalibrator.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Calibration widget for 5 point inerpolated curve
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef CURVECALIBRATOR_H
+#define CURVECALIBRATOR_H
+
+#include <QWidget>
+#include <QVector>
+#include <qwt_plot.h>
+#include <qwt_plot_curve.h>
+//#include <qwt_array.h>
+#include <QGridLayout>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPushButton>
+#include <QPen>
+#include <QColor>
+#include <QString>
+#include <QSignalMapper>
+#include <QDebug>
+
+#include "AbstractCalibrator.h"
+
+/**
+  @brief Calibration widget for 5 point inerpolated curve.
+  For the helicopter autopilot at UAlberta this is used for the throttle and pitch curves.
+  */
+class CurveCalibrator : public AbstractCalibrator
+{
+Q_OBJECT
+public:
+    explicit CurveCalibrator(QString title = QString(), QWidget *parent = 0);
+    ~CurveCalibrator();
+
+    void set(const QVector<float> &data);
+
+protected slots:
+    void setSetpoint(int setpoint);
+
+protected:    
+    QVector<double> *setpoints;
+    QVector<double> *positions;
+    /** Plot to display calibration curve */
+    QwtPlot *plot;
+    /** Curve object of calibration curve */
+    QwtPlotCurve *curve;
+
+    QSignalMapper *signalMapper;
+};
+
+#endif // CURVECALIBRATOR_H

src/ui/RadioCalibration/RadioCalibrationData.cc

+#include "RadioCalibrationData.h"
+
+RadioCalibrationData::RadioCalibrationData()
+{
+    data = new QVector<QVector<float> >(6);
+    (*data).insert(AILERON, QVector<float>(3));
+    (*data).insert(ELEVATOR, QVector<float>(3));
+    (*data).insert(RUDDER, QVector<float>(3));
+    (*data).insert(GYRO, QVector<float>(2));
+    (*data).insert(PITCH, QVector<float>(5));
+    (*data).insert(THROTTLE, QVector<float>(5));
+}
+
+RadioCalibrationData::RadioCalibrationData(const QVector<float> &aileron,
+                                                                   const QVector<float> &elevator,
+                                                                   const QVector<float> &rudder,
+                                                                   const QVector<float> &gyro,
+                                                                   const QVector<float> &pitch,
+                                                                   const QVector<float> &throttle)
+{
+    data = new QVector<QVector<float> >();
+    (*data) << aileron
+            << elevator
+            << rudder
+            << gyro
+            << pitch
+            << throttle;
+}
+
+RadioCalibrationData::RadioCalibrationData(const RadioCalibrationData &other)
+    :QObject()
+{
+    data = new QVector<QVector<float> >(*other.data);
+}
+
+RadioCalibrationData::~RadioCalibrationData()
+{
+    delete data;
+}
+
+const float* RadioCalibrationData::operator [](int i) const
+{
+    if (i < data->size())
+    {
+        return (*data)[i].constData();
+    }
+
+    return NULL;
+}
+
+const QVector<float>& RadioCalibrationData::operator ()(int i) const
+{
+    if (i < data->size())
+    {
+        return (*data)[i];
+    }
+
+    // This is not good.  If it is ever used after being returned it will cause a crash
+//    return QVector<float>();
+}
+
+QString RadioCalibrationData::toString(RadioElement element) const
+{
+    QString s;
+    foreach (float f, (*data)[element])
+    {
+        s += QString::number(f) + ", ";
+    }
+    return s.mid(0, s.length()-2);
+}

src/ui/RadioCalibration/RadioCalibrationData.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Class to hold the calibration data
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef RADIOCALIBRATIONDATA_H
+#define RADIOCALIBRATIONDATA_H
+
+#include <QObject>
+#include <QDebug>
+#include <QVector>
+#include <QString>
+
+
+/**
+  @brief Class to hold the calibration data.
+  @author Bryan Godbolt <godbolt@ece.ualberta.ca>
+  */
+class RadioCalibrationData : public QObject
+{
+Q_OBJECT
+
+public:
+    explicit RadioCalibrationData();
+    RadioCalibrationData(const RadioCalibrationData&);
+    RadioCalibrationData(const QVector<float>& aileron,
+                         const QVector<float>& elevator,
+                         const QVector<float>& rudder,
+                         const QVector<float>& gyro,
+                         const QVector<float>& pitch,
+                         const QVector<float>& throttle);
+    ~RadioCalibrationData();
+
+    enum RadioElement
+    {
+        AILERON=0,
+        ELEVATOR,
+        RUDDER,
+        GYRO,
+        PITCH,
+        THROTTLE
+    };
+
+    const float* operator[](int i) const;
+    const QVector<float>& operator()(int i) const;
+    void set(int element, int index, float value) {(*data)[element][index] = value;}
+
+public slots:
+    void setAileron(int index, float value) {set(AILERON, index, value);}
+    void setElevator(int index, float value) {set(ELEVATOR, index, value);}
+    void setRudder(int index, float value) {set(RUDDER, index, value);}
+    void setGyro(int index, float value) {set(GYRO, index, value);}
+    void setPitch(int index, float value) {set(PITCH, index, value);}
+    void setThrottle(int index, float value) {set(THROTTLE, index, value);}
+
+public:
+    /// Creates a comma seperated list of the values for a particular element
+    QString toString(const RadioElement element) const;
+
+protected:
+    QVector<QVector<float> > *data;
+
+    void init(const QVector<float>& aileron,
+              const QVector<float>& elevator,
+              const QVector<float>& rudder,
+              const QVector<float>& gyro,
+              const QVector<float>& pitch,
+              const QVector<float>& throttle);
+
+};
+
+#endif // RADIOCALIBRATIONDATA_H

src/ui/RadioCalibration/RadioCalibrationWindow.cc

+#include "RadioCalibrationWindow.h"
+
+RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
+        QWidget(parent, Qt::Window),
+        radio(new RadioCalibrationData())
+{
+    QGridLayout *grid = new QGridLayout();
+
+    aileron = new AirfoilServoCalibrator(AirfoilServoCalibrator::AILERON);
+    grid->addWidget(aileron, 0, 0, 1, 1, Qt::AlignTop);
+
+    elevator = new AirfoilServoCalibrator(AirfoilServoCalibrator::ELEVATOR);
+    grid->addWidget(elevator, 0, 1, 1, 1, Qt::AlignTop);
+
+    rudder = new AirfoilServoCalibrator(AirfoilServoCalibrator::RUDDER);
+    grid->addWidget(rudder, 0, 2, 1, 1, Qt::AlignTop);
+
+    gyro = new SwitchCalibrator(tr("Gyro Mode/Gain"));
+    grid->addWidget(gyro, 0, 3, 1, 1, Qt::AlignTop);
+
+
+    pitch = new CurveCalibrator(tr("Collective Pitch"));
+    grid->addWidget(pitch, 1, 0, 1, 2);
+
+    throttle = new CurveCalibrator(tr("Throttle"));
+    grid->addWidget(throttle, 1, 2, 1, 2);
+
+    /* Buttons for loading/transmitting calibration data */
+    QHBoxLayout *hbox = new QHBoxLayout();
+    QPushButton *load = new QPushButton(tr("Load File"));
+    QPushButton *save = new QPushButton(tr("Save File"));
+    QPushButton *transmit = new QPushButton(tr("Transmit to UAV"));
+    QPushButton *get = new QPushButton(tr("Get from UAV"));
+    hbox->addWidget(load);
+    hbox->addWidget(save);
+    hbox->addWidget(transmit);
+    hbox->addWidget(get);
+    grid->addLayout(hbox, 2, 0, 1, 4);
+    this->setLayout(grid);
+
+    connect(load, SIGNAL(clicked()), this, SLOT(loadFile()));
+    connect(save, SIGNAL(clicked()), this, SLOT(saveFile()));
+    connect(transmit, SIGNAL(clicked()), this, SLOT(send()));
+    connect(get, SIGNAL(clicked()), this, SLOT(request()));
+
+    connect(aileron, SIGNAL(setpointChanged(int,float)), radio, SLOT(setAileron(int,float)));
+    connect(elevator, SIGNAL(setpointChanged(int,float)), radio, SLOT(setElevator(int,float)));
+    connect(rudder, SIGNAL(setpointChanged(int,float)), radio, SLOT(setRudder(int,float)));
+    connect(gyro, SIGNAL(setpointChanged(int,float)), radio, SLOT(setGyro(int,float)));
+    connect(pitch, SIGNAL(setpointChanged(int,float)), radio, SLOT(setPitch(int,float)));
+    connect(throttle, SIGNAL(setpointChanged(int,float)), radio, SLOT(setThrottle(int,float)));
+    setUASId(0);
+}
+
+void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
+{
+    /** this expects a particular channel to function mapping
+       \todo allow run-time channel mapping
+       */
+    switch (ch)
+    {
+    case 0:
+        aileron->channelChanged(raw);
+        break;
+    case 1:
+        elevator->channelChanged(raw);
+        break;
+    case 2:
+        throttle->channelChanged(raw);
+        break;
+    case 3:
+        rudder->channelChanged(raw);
+        break;
+    case 4:
+        gyro->channelChanged(raw);
+        break;
+    case 5:
+        pitch->channelChanged(raw);
+        break;
+
+
+    }
+}
+
+void RadioCalibrationWindow::saveFile()
+{
+    QString fileName(QFileDialog::getSaveFileName(this,
+                                                  tr("Save RC Calibration"),
+                                                  "settings/",
+                                                  tr("XML Files (*.xml)")));
+    if (fileName.isEmpty())
+        return;
+
+    QDomDocument *rcConfig = new QDomDocument();
+
+    QFile rcFile(fileName);
+    if (rcFile.exists())
+    {
+            rcFile.remove();
+    }
+    if (!rcFile.open(QFile::WriteOnly | QFile::Text))
+    {
+        qDebug() << __FILE__ << __LINE__ << "could not open"  << rcFile.fileName() << "for writing";
+        return;
+    }
+
+    QDomElement root;
+    rcConfig->appendChild(root=rcConfig->createElement("channels"));
+    QDomElement e;
+    QDomText t;
+
+    // Aileron
+    e = rcConfig->createElement("threeSetpoint");
+    e.setAttribute("name", "Aileron");
+    e.setAttribute("number", "1");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::AILERON));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Elevator
+    e = rcConfig->createElement("threeSetpoint");
+    e.setAttribute("name", "Elevator");
+    e.setAttribute("number", "2");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::ELEVATOR));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Rudder
+    e = rcConfig->createElement("threeSetpoint");
+    e.setAttribute("name", "Rudder");
+    e.setAttribute("number", "4");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::RUDDER));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Gyro Mode/Gain
+    e = rcConfig->createElement("twoSetpoint");
+    e.setAttribute("name", "Gyro");
+    e.setAttribute("number", "5");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::GYRO));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Throttle
+    e = rcConfig->createElement("fiveSetpoint");
+    e.setAttribute("name", "Throttle");
+    e.setAttribute("number", "3");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::THROTTLE));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Pitch
+    e = rcConfig->createElement("fiveSetpoint");
+    e.setAttribute("name", "Pitch");
+    e.setAttribute("number", "6");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::PITCH));
+    e.appendChild(t);
+    root.appendChild(e);
+
+
+    QTextStream out(&rcFile);
+    const int IndentSize = 4;
+    rcConfig->save(out, IndentSize);
+    rcFile.close();
+
+}
+
+void RadioCalibrationWindow::loadFile()
+{
+    QString fileName(QFileDialog::getOpenFileName(this,
+                                                  tr("Load RC Calibration"),
+                                                  "settings/",
+                                                  tr("XML Files (*.xml)")));
+
+    if (fileName.isEmpty())
+        return;
+
+    QFile rcFile(fileName);
+    if (!rcFile.exists())
+    {        
+        return;
+    }
+
+    if (!rcFile.open(QIODevice::ReadOnly))
+    {
+        return;
+    }
+
+    QDomDocument *rcConfig = new QDomDocument();
+
+    QString errorStr;
+    int errorLine;
+    int errorColumn;
+
+    if (!rcConfig->setContent(&rcFile, true, &errorStr, &errorLine,
+                                &errorColumn))
+    {
+        qDebug() << "Error reading XML Parameter File on line: " << errorLine << errorStr;
+        return;
+    }
+
+    rcFile.close();
+    QDomElement root = rcConfig->documentElement();
+    if (root.tagName() != "channels") {
+        qDebug() << __FILE__ << __LINE__ << "This is not a Radio Calibration xml file";
+        return;
+    }
+
+
+    QPointer<RadioCalibrationData> newRadio = new RadioCalibrationData();
+    QDomElement child = root.firstChildElement();
+    while (!child.isNull())
+    {
+        parseSetpoint(child, newRadio);
+        child = child.nextSiblingElement();
+    }
+
+    receive(newRadio);
+
+    delete newRadio;
+    delete rcConfig;
+}
+
+void RadioCalibrationWindow::parseSetpoint(const QDomElement &setpoint, const QPointer<RadioCalibrationData>& newRadio)
+{
+    QVector<float> setpoints;
+    QStringList setpointList = setpoint.text().split(",", QString::SkipEmptyParts);
+    foreach (QString setpoint, setpointList)
+        setpoints << setpoint.trimmed().toFloat();
+
+//    qDebug() << __FILE__ << __LINE__ << ": " << setpoint.tagName() << ": " << setpoint.attribute("name") ;
+    if (setpoint.tagName() == "threeSetpoint")
+    {
+        if (setpoints.isEmpty())
+            setpoints << 0 << 0 << 0;
+        for (int i=0; i<3; ++i)
+        {
+            if (setpoint.attribute("name").toUpper() == "AILERON")
+                newRadio->setAileron(i, setpoints[i]);
+            else if(setpoint.attribute("name").toUpper() == "ELEVATOR")
+                newRadio->setElevator(i, setpoints[i]);
+            else if(setpoint.attribute("name").toUpper() == "RUDDER")
+                newRadio->setRudder(i, setpoints[i]);
+        }
+    }    
+    else if (setpoint.tagName() == "twoSetpoint")
+    {
+        if (setpoints.isEmpty())
+            setpoints << 0 << 0;
+        for (int i=0; i<2; ++i)
+        {
+            if (setpoint.attribute("name").toUpper() == "GYRO")
+                newRadio->setGyro(i, setpoints[i]);
+        }
+    }
+    else if (setpoint.tagName() == "fiveSetpoint")
+    {
+        if (setpoints.isEmpty())
+            setpoints << 0 << 0 << 0 << 0 << 0;
+        for (int i=0; i<5; ++i)
+        {
+            if (setpoint.attribute("name").toUpper() == "PITCH")
+                newRadio->setPitch(i, setpoints[i]);
+            else if (setpoint.attribute("name").toUpper() == "THROTTLE")
+                newRadio->setThrottle(i, setpoints[i]);
+        }
+    }
+}
+
+void RadioCalibrationWindow::send()
+{
+    qDebug() << __FILE__ << __LINE__ << "uasId = " << uasId;
+#ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
+    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
+    if (uas)
+    {
+        mavlink_message_t msg;
+        mavlink_msg_radio_calibration_pack(uasId, 0, &msg,
+                                           (*radio)[RadioCalibrationData::AILERON],
+                                           (*radio)[RadioCalibrationData::ELEVATOR],
+                                           (*radio)[RadioCalibrationData::RUDDER],
+                                           (*radio)[RadioCalibrationData::GYRO],
+                                           (*radio)[RadioCalibrationData::PITCH],
+                                           (*radio)[RadioCalibrationData::THROTTLE]);
+        uas->sendMessage(msg);
+    }
+#endif
+}
+
+void RadioCalibrationWindow::request()
+{
+    qDebug() << __FILE__ << __LINE__ << "READ FROM UAV";
+    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
+    if (uas)
+    {
+        mavlink_message_t msg;
+        mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC);
+        uas->sendMessage(msg);
+    }
+}
+
+void RadioCalibrationWindow::receive(const QPointer<RadioCalibrationData>& radio)
+{
+    if (radio)
+    {
+        if (this->radio)
+            delete this->radio;
+        this->radio = new RadioCalibrationData(*radio);
+
+        aileron->set((*radio)(RadioCalibrationData::AILERON));
+        elevator->set((*radio)(RadioCalibrationData::ELEVATOR));
+        rudder->set((*radio)(RadioCalibrationData::RUDDER));
+        gyro->set((*radio)(RadioCalibrationData::GYRO));
+        pitch->set((*radio)(RadioCalibrationData::PITCH));
+        throttle->set((*radio)(RadioCalibrationData::THROTTLE));
+    }        
+}

src/ui/RadioCalibration/RadioCalibrationWindow.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Main window for radio calibration
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef RADIOCALIBRATIONWINDOW_H
+#define RADIOCALIBRATIONWINDOW_H
+
+#include <QWidget>
+#include <QLabel>
+#include <QGroupBox>
+#include <QPushButton>
+#include <QVector>
+#include <QGridLayout>
+#include <QHBoxLayout>
+#include <QDebug>
+#include <QPointer>
+#include <QFileDialog>
+#include <QFile>
+#include <QtXml>
+#include <QTextStream>
+
+#include "AirfoilServoCalibrator.h"
+#include "SwitchCalibrator.h"
+#include "CurveCalibrator.h"
+
+#include "mavlink.h"
+#include "mavlink_types.h"
+#include "UAS.h"
+#include "UASManager.h"
+#include "RadioCalibrationData.h"
+
+/**
+  @brief Main window for radio calibration
+  @author Bryan Godbolt <godbolt@ece.ualberta.ca>
+  */
+class RadioCalibrationWindow : public QWidget
+{
+Q_OBJECT
+
+public:
+    explicit RadioCalibrationWindow(QWidget *parent = 0);
+
+public slots:
+    void setChannel(int ch, float raw, float normalized);
+    void loadFile();
+    void saveFile();
+    void send();
+    void request();
+    void receive(const QPointer<RadioCalibrationData>& radio);
+    void setUASId(int id) {this->uasId = id;}
+
+
+protected:
+    AirfoilServoCalibrator *aileron;
+    AirfoilServoCalibrator *elevator;
+    AirfoilServoCalibrator *rudder;
+    SwitchCalibrator *gyro;
+    CurveCalibrator *pitch;
+    CurveCalibrator *throttle;
+    int uasId;
+    QPointer<RadioCalibrationData> radio;
+    QSignalMapper mapper;
+
+    void parseSetpoint(const QDomElement& setpoint, const QPointer<RadioCalibrationData>& radio);
+};
+
+#endif // RADIOCALIBRATIONWINDOW_H

src/ui/RadioCalibration/SwitchCalibrator.cc

+#include "SwitchCalibrator.h"
+
+SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
+    AbstractCalibrator(parent),    
+    defaultPulseWidth(new QLabel()),
+    toggledPulseWidth(new QLabel())
+{
+    /* Add title label*/
+    QLabel *title = new QLabel(titleString);
+    QGridLayout *grid = new QGridLayout();
+    grid->addWidget(title, 0, 0, 1, 3);
+
+    /* Add current Pulse Width Display */
+    QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));    
+    QHBoxLayout *pulseLayout = new QHBoxLayout();
+    pulseLayout->addWidget(pulseWidthTitle);
+    pulseLayout->addWidget(pulseWidth);
+    grid->addLayout(pulseLayout, 1, 0, 1, 3);
+
+    QLabel *defaultPulseString = new QLabel(tr("Default Position"));
+    QPushButton *defaultButton = new QPushButton(tr("Set"));
+    grid->addWidget(defaultPulseString, 2, 0);
+    grid->addWidget(defaultPulseWidth, 2, 1);
+    grid->addWidget(defaultButton, 2, 2);
+
+    QLabel *toggledPulseString = new QLabel(tr("Toggled Position"));
+    QPushButton *toggledButton = new QPushButton(tr("Set"));
+    grid->addWidget(toggledPulseString, 3, 0);
+    grid->addWidget(toggledPulseWidth, 3, 1);
+    grid->addWidget(toggledButton, 3, 2);
+
+    this->setLayout(grid);
+
+    connect(defaultButton, SIGNAL(clicked()), this, SLOT(setDefault()));
+    connect(toggledButton, SIGNAL(clicked()), this, SLOT(setToggled()));
+}
+
+
+void SwitchCalibrator::setDefault()
+{
+    defaultPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    emit setpointChanged(0, logExtrema());
+}
+
+void SwitchCalibrator::setToggled()
+{
+    toggledPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
+    emit setpointChanged(1, logExtrema());
+}
+
+void SwitchCalibrator::set(const QVector<float> &data)
+{
+    if (data.size() == 2)
+    {
+        defaultPulseWidth->setText(QString::number(data[0]));
+        toggledPulseWidth->setText(QString::number(data[1]));
+    }
+}

src/ui/RadioCalibration/SwitchCalibrator.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Calibration widget for 2 setpoint switch
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef SWITCHCALIBRATOR_H
+#define SWITCHCALIBRATOR_H
+
+#include <QWidget>
+#include <QLabel>
+#include <QPushButton>
+#include <QVector>
+#include <QGridLayout>
+#include <QHBoxLayout>
+
+#include "AbstractCalibrator.h"
+
+/**
+  @brief Calibration widget for 2 setpoint switch
+  @author Bryan Godbolt <godbolt@ece.ualberta.ca>
+  */
+class SwitchCalibrator : public AbstractCalibrator
+{
+Q_OBJECT
+public:
+    explicit SwitchCalibrator(QString title=QString(), QWidget *parent = 0);
+
+    void set(const QVector<float> &data);
+
+protected slots:
+    void setDefault();
+    void setToggled();
+
+protected:   
+    QLabel *defaultPulseWidth;
+    QLabel *toggledPulseWidth;    
+
+};
+
+#endif // SWITCHCALIBRATOR_H

user_config.pri.dist

@@ -23,22 +23,10 @@
 #
 #-------------------------------------------------
 
-# Uncomment ONE of these lines to enable the special message set of a project.
-# Several message sets can be also enabled in parallel, as long as function names
-# and message ids do not conflict.
+# Add or remove custom message specs here. The matching mavlink headers are
+# included in the main qgroundcontrol.pro file.
 
-# Remove the default set - it is included anyway
-INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
-
-# PIXHAWK SPECIAL MESSAGES
-INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
-DEFINES += QGC_USE_PIXHAWK_MESSAGES
-
-# SLUGS SPECIAL MESSAGES
-INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
-DEFINES += QGC_USE_SLUGS_MESSAGES
-
-# UALBERTA SPECIAL MESSAGES
-INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
-DEFINES += QGC_USE_UALBERTA_MESSAGES
+MAVLINK_CONF += pixhawk \
+                slugs \
+                ualberta