First round of fixes per Bill's git commit comments

src/ui/MainWindow.cc

@@ -1527,7 +1527,6 @@ void MainWindow::connectCommonActions()
     connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
     connect(ui.actionMissionView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
     connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));
-    //connect(ui.actionConfiguration_2,SIGNAL(triggered()),this,SLOT(loadConfigurationView()));
     connect(ui.actionHardwareConfig,SIGNAL(triggered()),this,SLOT(loadHardwareConfigView()));
     connect(ui.actionSoftwareConfig,SIGNAL(triggered()),this,SLOT(loadSoftwareConfigView()));
 

src/ui/MainWindow.h

@@ -30,7 +30,6 @@ This file is part of the QGROUNDCONTROL project
 
 #ifndef _MAINWINDOW_H_
 #define _MAINWINDOW_H_
-
 #include <QtGui/QMainWindow>
 #include <QStatusBar>
 #include <QStackedWidget>

src/ui/configuration/AP2ConfigWidget.cc

+#include <QMessageBox>
 #include "AP2ConfigWidget.h"
 
 AP2ConfigWidget::AP2ConfigWidget(QWidget *parent) : QWidget(parent)
@@ -8,11 +9,12 @@ AP2ConfigWidget::AP2ConfigWidget(QWidget *parent) : QWidget(parent)
 }
 void AP2ConfigWidget::activeUASSet(UASInterface *uas)
 {
-    if (!uas) return;
     if (m_uas)
     {
         disconnect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
+        m_uas = 0;
     }
+    if (!uas) return;
     m_uas = uas;
     connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
 }
@@ -21,3 +23,7 @@ void AP2ConfigWidget::parameterChanged(int uas, int component, QString parameter
 {
 
 }
+void AP2ConfigWidget::showNullMAVErrorMessageBox()
+{
+    QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+}

src/ui/configuration/AP2ConfigWidget.h

@@ -11,6 +11,7 @@ public:
     explicit AP2ConfigWidget(QWidget *parent = 0);
 protected:
     UASInterface *m_uas;
+    void showNullMAVErrorMessageBox();
 signals:
     
 public slots:

src/ui/configuration/AccelCalibrationConfig.cc

 #include "AccelCalibrationConfig.h"
 
 
-AccelCalibrationConfig::AccelCalibrationConfig(QWidget *parent) : QWidget(parent)
+AccelCalibrationConfig::AccelCalibrationConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     m_uas=0;
     ui.setupUi(this);
@@ -9,7 +9,7 @@ AccelCalibrationConfig::AccelCalibrationConfig(QWidget *parent) : QWidget(parent
 
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
     activeUASSet(UASManager::instance()->getActiveUAS());
-    accelAckCount=0;
+    m_accelAckCount=0;
 }
 
 AccelCalibrationConfig::~AccelCalibrationConfig()
@@ -17,42 +17,48 @@ AccelCalibrationConfig::~AccelCalibrationConfig()
 }
 void AccelCalibrationConfig::activeUASSet(UASInterface *uas)
 {
-    if (!uas)
+    if (m_uas)
     {
-        return;
+        disconnect(m_uas,SIGNAL(textMessageReceived(int,int,int,QString)),this,SLOT(uasTextMessageReceived(int,int,int,QString)));
     }
-    if (m_uas)
+    AP2ConfigWidget::activeUASSet(uas);
+    if (!uas)
     {
+        return;
     }
-    m_uas = uas;
     connect(m_uas,SIGNAL(textMessageReceived(int,int,int,QString)),this,SLOT(uasTextMessageReceived(int,int,int,QString)));
+
 }
 
 void AccelCalibrationConfig::calibrateButtonClicked()
 {
-    if (accelAckCount == 0)
+    if (!m_uas)
+    {
+        showNullMAVErrorMessageBox();
+        return;
+    }
+    if (m_accelAckCount == 0)
     {
         MAV_CMD command = MAV_CMD_PREFLIGHT_CALIBRATION;
         int confirm = 0;
-        float param1 = 0;
-        float param2 = 0;
-        float param3 = 0;
-        float param4 = 0;
-        float param5 = 1;
-        float param6 = 0;
-        float param7 = 0;
+        float param1 = 0.0;
+        float param2 = 0.0;
+        float param3 = 0.0;
+        float param4 = 0.0;
+        float param5 = 1.0;
+        float param6 = 0.0;
+        float param7 = 0.0;
         int component = 1;
         m_uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
     }
-    else if (accelAckCount <= 5)
+    else if (m_accelAckCount <= 5)
     {
-        m_uas->executeCommandAck(accelAckCount++,true);
+        m_uas->executeCommandAck(m_accelAckCount++,true);
     }
     else
     {
-        m_uas->executeCommandAck(accelAckCount++,true);
+        m_uas->executeCommandAck(m_accelAckCount++,true);
         ui.calibrateAccelButton->setText("Calibrate\nAccelerometer");
-        //accelAckCount = 0;
     }
 
 }
@@ -63,24 +69,24 @@ void AccelCalibrationConfig::uasTextMessageReceived(int uasid, int componentid,
     if (severity == 5)
     {
         //This is a calibration instruction
-        if (accelAckCount == 0)
+        if (m_accelAckCount == 0)
         {
             //Calibration Sucessful\r"
             ui.calibrateAccelButton->setText("Any\nKey");
-            accelAckCount++;
+            m_accelAckCount++;
         }
-        if (accelAckCount == 7)
+        if (m_accelAckCount == 7)
         {
             //All finished
             //ui.outputLabel->setText(ui.outputLabel->text() + "\n" + text);
             ui.outputLabel->setText(text);
-            accelAckCount++;
+            m_accelAckCount++;
         }
-        if (accelAckCount == 8)
+        if (m_accelAckCount == 8)
         {
             if (text.contains("Calibration") && text.contains("successful"))
             {
-                accelAckCount = 0;
+                m_accelAckCount = 0;
             }
             ui.outputLabel->setText(ui.outputLabel->text() + "\n" + text);
         }

src/ui/configuration/AccelCalibrationConfig.h

@@ -5,7 +5,9 @@
 #include "ui_AccelCalibrationConfig.h"
 #include "UASManager.h"
 #include "UASInterface.h"
-class AccelCalibrationConfig : public QWidget
+#include "AP2ConfigWidget.h"
+
+class AccelCalibrationConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -17,7 +19,7 @@ private slots:
     void calibrateButtonClicked();
     void uasTextMessageReceived(int uasid, int componentid, int severity, QString text);
 private:
-    int accelAckCount;
+    int m_accelAckCount;
     Ui::AccelCalibrationConfig ui;
     UASInterface *m_uas;
 };

src/ui/configuration/AdvParameterList.cc

@@ -7,8 +7,6 @@ AdvParameterList::AdvParameterList(QWidget *parent) : AP2ConfigWidget(parent)
     ui.tableWidget->setColumnCount(4);
     ui.tableWidget->horizontalHeader()->hide();
     ui.tableWidget->verticalHeader()->hide();
-    //ui.tableWidget->setHorizontalHeader(0);
-    //ui.tableWidget->setVerticalHeader(0);
     ui.tableWidget->setColumnWidth(0,200);
     ui.tableWidget->setColumnWidth(1,100);
     ui.tableWidget->setColumnWidth(2,200);
@@ -21,19 +19,19 @@ AdvParameterList::~AdvParameterList()
 }
 void AdvParameterList::setParameterMetaData(QString name,QString humanname,QString description)
 {
-    paramToNameMap[name] = humanname;
-    paramToDescriptionMap[name] = description;
+    m_paramToNameMap[name] = humanname;
+    m_paramToDescriptionMap[name] = description;
 }
 
 void AdvParameterList::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
 
-    if (!paramValueMap.contains(parameterName))
+    if (!m_paramValueMap.contains(parameterName))
     {
         ui.tableWidget->setRowCount(ui.tableWidget->rowCount()+1);
-        if (paramToNameMap.contains(parameterName))
+        if (m_paramToNameMap.contains(parameterName))
         {
-            ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,0,new QTableWidgetItem(paramToNameMap[parameterName]));
+            ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,0,new QTableWidgetItem(m_paramToNameMap[parameterName]));
         }
         else
         {
@@ -41,15 +39,15 @@ void AdvParameterList::parameterChanged(int uas, int component, QString paramete
         }
         ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,1,new QTableWidgetItem(QString::number(value.toFloat(),'f',2)));
         ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,2,new QTableWidgetItem(parameterName));
-        if (paramToDescriptionMap.contains(parameterName))
+        if (m_paramToDescriptionMap.contains(parameterName))
         {
-            ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,3,new QTableWidgetItem(paramToDescriptionMap[parameterName]));
+            ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,3,new QTableWidgetItem(m_paramToDescriptionMap[parameterName]));
         }
         else
         {
             ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,3,new QTableWidgetItem("Unknown"));
         }
-        paramValueMap[parameterName] = ui.tableWidget->item(ui.tableWidget->rowCount()-1,1);
+        m_paramValueMap[parameterName] = ui.tableWidget->item(ui.tableWidget->rowCount()-1,1);
     }
-    paramValueMap[parameterName]->setText(QString::number(value.toFloat(),'f',2));
+    m_paramValueMap[parameterName]->setText(QString::number(value.toFloat(),'f',2));
 }

src/ui/configuration/AdvParameterList.h

@@ -16,9 +16,9 @@ public:
 private slots:
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
-    QMap<QString,QTableWidgetItem*> paramValueMap;
-    QMap<QString,QString> paramToNameMap;
-    QMap<QString,QString> paramToDescriptionMap;
+    QMap<QString,QTableWidgetItem*> m_paramValueMap;
+    QMap<QString,QString> m_paramToNameMap;
+    QMap<QString,QString> m_paramToDescriptionMap;
     Ui::AdvParameterList ui;
 };
 

src/ui/configuration/AdvancedParamConfig.cc

@@ -12,7 +12,7 @@ AdvancedParamConfig::~AdvancedParamConfig()
 void AdvancedParamConfig::addRange(QString title,QString description,QString param,double min,double max)
 {
     ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents);
-    paramToWidgetMap[param] = widget;
+    m_paramToWidgetMap[param] = widget;
     widget->setupDouble(title + "(" + param + ")",description,0,min,max);
     ui.verticalLayout->addWidget(widget);
     widget->show();
@@ -21,15 +21,15 @@ void AdvancedParamConfig::addRange(QString title,QString description,QString par
 void AdvancedParamConfig::addCombo(QString title,QString description,QString param,QList<QPair<int,QString> > valuelist)
 {
     ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents);
-    paramToWidgetMap[param] = widget;
+    m_paramToWidgetMap[param] = widget;
     widget->setupCombo(title + "(" + param + ")",description,valuelist);
     ui.verticalLayout->addWidget(widget);
     widget->show();
 }
 void AdvancedParamConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    if (paramToWidgetMap.contains(parameterName))
+    if (m_paramToWidgetMap.contains(parameterName))
     {
-        paramToWidgetMap[parameterName]->setValue(value.toDouble());
+        m_paramToWidgetMap[parameterName]->setValue(value.toDouble());
     }
 }

src/ui/configuration/AdvancedParamConfig.h

@@ -17,7 +17,7 @@ public:
 private slots:
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
-    QMap<QString,ParamWidget*> paramToWidgetMap;
+    QMap<QString,ParamWidget*> m_paramToWidgetMap;
     Ui::AdvancedParamConfig ui;
 };
 

src/ui/configuration/AirspeedConfig.cc

@@ -51,7 +51,7 @@ void AirspeedConfig::useCheckBoxClicked(bool checked)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -68,7 +68,7 @@ void AirspeedConfig::enableCheckBoxClicked(bool checked)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)

src/ui/configuration/ApmHardwareConfig.cc

@@ -62,73 +62,73 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent)
 
     QWidget *widget = new QWidget(this);
     ui.stackedWidget->addWidget(widget); //Firmware placeholder.
-    buttonToConfigWidgetMap[ui.firmwareButton] = widget;
+    m_buttonToConfigWidgetMap[ui.firmwareButton] = widget;
     connect(ui.firmwareButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    frameConfig = new FrameTypeConfig(this);
-    ui.stackedWidget->addWidget(frameConfig);
-    buttonToConfigWidgetMap[ui.frameTypeButton] = frameConfig;
+    m_frameConfig = new FrameTypeConfig(this);
+    ui.stackedWidget->addWidget(m_frameConfig);
+    m_buttonToConfigWidgetMap[ui.frameTypeButton] = m_frameConfig;
     connect(ui.frameTypeButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    compassConfig = new CompassConfig(this);
-    ui.stackedWidget->addWidget(compassConfig);
-    buttonToConfigWidgetMap[ui.compassButton] = compassConfig;
+    m_compassConfig = new CompassConfig(this);
+    ui.stackedWidget->addWidget(m_compassConfig);
+    m_buttonToConfigWidgetMap[ui.compassButton] = m_compassConfig;
     connect(ui.compassButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    accelConfig = new AccelCalibrationConfig(this);
-    ui.stackedWidget->addWidget(accelConfig);
-    buttonToConfigWidgetMap[ui.accelCalibrateButton] = accelConfig;
+    m_accelConfig = new AccelCalibrationConfig(this);
+    ui.stackedWidget->addWidget(m_accelConfig);
+    m_buttonToConfigWidgetMap[ui.accelCalibrateButton] = m_accelConfig;
     connect(ui.accelCalibrateButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    planeLevel = new ApmPlaneLevel(this);
-    ui.stackedWidget->addWidget(planeLevel);
-    buttonToConfigWidgetMap[ui.arduPlaneLevelButton] = planeLevel;
+    m_planeLevel = new ApmPlaneLevel(this);
+    ui.stackedWidget->addWidget(m_planeLevel);
+    m_buttonToConfigWidgetMap[ui.arduPlaneLevelButton] = m_planeLevel;
     connect(ui.arduPlaneLevelButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    radioConfig = new RadioCalibrationConfig(this);
-    ui.stackedWidget->addWidget(radioConfig);
-    buttonToConfigWidgetMap[ui.radioCalibrateButton] = radioConfig;
+    m_radioConfig = new RadioCalibrationConfig(this);
+    ui.stackedWidget->addWidget(m_radioConfig);
+    m_buttonToConfigWidgetMap[ui.radioCalibrateButton] = m_radioConfig;
     connect(ui.radioCalibrateButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
 
-    radio3drConfig = new Radio3DRConfig(this);
-    ui.stackedWidget->addWidget(radio3drConfig);
-    buttonToConfigWidgetMap[ui.radio3DRButton] = radio3drConfig;
+    m_radio3drConfig = new Radio3DRConfig(this);
+    ui.stackedWidget->addWidget(m_radio3drConfig);
+    m_buttonToConfigWidgetMap[ui.radio3DRButton] = m_radio3drConfig;
     connect(ui.radio3DRButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    batteryConfig = new BatteryMonitorConfig(this);
-    ui.stackedWidget->addWidget(batteryConfig);
-    buttonToConfigWidgetMap[ui.batteryMonitorButton] = batteryConfig;
+    m_batteryConfig = new BatteryMonitorConfig(this);
+    ui.stackedWidget->addWidget(m_batteryConfig);
+    m_buttonToConfigWidgetMap[ui.batteryMonitorButton] = m_batteryConfig;
     connect(ui.batteryMonitorButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    sonarConfig = new SonarConfig(this);
-    ui.stackedWidget->addWidget(sonarConfig);
-    buttonToConfigWidgetMap[ui.sonarButton] = sonarConfig;
+    m_sonarConfig = new SonarConfig(this);
+    ui.stackedWidget->addWidget(m_sonarConfig);
+    m_buttonToConfigWidgetMap[ui.sonarButton] = m_sonarConfig;
     connect(ui.sonarButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    airspeedConfig = new AirspeedConfig(this);
-    ui.stackedWidget->addWidget(airspeedConfig);
-    buttonToConfigWidgetMap[ui.airspeedButton] = airspeedConfig;
+    m_airspeedConfig = new AirspeedConfig(this);
+    ui.stackedWidget->addWidget(m_airspeedConfig);
+    m_buttonToConfigWidgetMap[ui.airspeedButton] = m_airspeedConfig;
     connect(ui.airspeedButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    opticalFlowConfig = new OpticalFlowConfig(this);
-    ui.stackedWidget->addWidget(opticalFlowConfig);
-    buttonToConfigWidgetMap[ui.opticalFlowButton] = opticalFlowConfig;
+    m_opticalFlowConfig = new OpticalFlowConfig(this);
+    ui.stackedWidget->addWidget(m_opticalFlowConfig);
+    m_buttonToConfigWidgetMap[ui.opticalFlowButton] = m_opticalFlowConfig;
     connect(ui.opticalFlowButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    osdConfig = new OsdConfig(this);
-    ui.stackedWidget->addWidget(osdConfig);
-    buttonToConfigWidgetMap[ui.osdButton] = osdConfig;
+    m_osdConfig = new OsdConfig(this);
+    ui.stackedWidget->addWidget(m_osdConfig);
+    m_buttonToConfigWidgetMap[ui.osdButton] = m_osdConfig;
     connect(ui.osdButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    cameraGimbalConfig = new CameraGimbalConfig(this);
-    ui.stackedWidget->addWidget(cameraGimbalConfig);
-    buttonToConfigWidgetMap[ui.cameraGimbalButton] = cameraGimbalConfig;
+    m_cameraGimbalConfig = new CameraGimbalConfig(this);
+    ui.stackedWidget->addWidget(m_cameraGimbalConfig);
+    m_buttonToConfigWidgetMap[ui.cameraGimbalButton] = m_cameraGimbalConfig;
     connect(ui.cameraGimbalButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    antennaTrackerConfig = new AntennaTrackerConfig(this);
-    ui.stackedWidget->addWidget(antennaTrackerConfig);
-    buttonToConfigWidgetMap[ui.antennaTrackerButton] = antennaTrackerConfig;
+    m_antennaTrackerConfig = new AntennaTrackerConfig(this);
+    ui.stackedWidget->addWidget(m_antennaTrackerConfig);
+    m_buttonToConfigWidgetMap[ui.antennaTrackerButton] = m_antennaTrackerConfig;
     connect(ui.antennaTrackerButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
@@ -139,9 +139,9 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent)
 }
 void ApmHardwareConfig::activateStackedWidget()
 {
-    if (buttonToConfigWidgetMap.contains(sender()))
+    if (m_buttonToConfigWidgetMap.contains(sender()))
     {
-        ui.stackedWidget->setCurrentWidget(buttonToConfigWidgetMap[sender()]);
+        ui.stackedWidget->setCurrentWidget(m_buttonToConfigWidgetMap[sender()]);
     }
 }
 

src/ui/configuration/ApmHardwareConfig.h

@@ -58,20 +58,20 @@ public:
     explicit ApmHardwareConfig(QWidget *parent = 0);
     ~ApmHardwareConfig();
 private:
-    FrameTypeConfig *frameConfig;
-    CompassConfig *compassConfig;
-    AccelCalibrationConfig *accelConfig;
-    RadioCalibrationConfig *radioConfig;
+    FrameTypeConfig *m_frameConfig;
+    CompassConfig *m_compassConfig;
+    AccelCalibrationConfig *m_accelConfig;
+    RadioCalibrationConfig *m_radioConfig;
 
-    Radio3DRConfig *radio3drConfig;
-    BatteryMonitorConfig *batteryConfig;
-    SonarConfig *sonarConfig;
-    AirspeedConfig *airspeedConfig;
-    OpticalFlowConfig *opticalFlowConfig;
-    OsdConfig *osdConfig;
-    CameraGimbalConfig *cameraGimbalConfig;
-    AntennaTrackerConfig *antennaTrackerConfig;
-    ApmPlaneLevel *planeLevel;
+    Radio3DRConfig *m_radio3drConfig;
+    BatteryMonitorConfig *m_batteryConfig;
+    SonarConfig *m_sonarConfig;
+    AirspeedConfig *m_airspeedConfig;
+    OpticalFlowConfig *m_opticalFlowConfig;
+    OsdConfig *m_osdConfig;
+    CameraGimbalConfig *m_cameraGimbalConfig;
+    AntennaTrackerConfig *m_antennaTrackerConfig;
+    ApmPlaneLevel *m_planeLevel;
 private slots:
     void activeUASSet(UASInterface *uas);
     void activateStackedWidget();
@@ -79,7 +79,7 @@ private:
     Ui::ApmHardwareConfig ui;
 
     //This is a map between the buttons, and the widgets they should be displying
-    QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
+    QMap<QObject*,QWidget*> m_buttonToConfigWidgetMap;
 };
 
 #endif // APMHARDWARECONFIG_H

src/ui/configuration/ApmPlaneLevel.cc

@@ -13,16 +13,21 @@ ApmPlaneLevel::~ApmPlaneLevel()
 }
 void ApmPlaneLevel::levelClicked()
 {
+    if (!m_uas)
+    {
+        showNullMAVErrorMessageBox();
+        return;
+    }
     QMessageBox::information(0,"Warning","Be sure the plane is completly level, then click ok");
     MAV_CMD command = MAV_CMD_PREFLIGHT_CALIBRATION;
     int confirm = 0;
-    float param1 = 1;
-    float param2 = 0;
-    float param3 = 1;
-    float param4 = 0;
-    float param5 = 0;
-    float param6 = 0;
-    float param7 = 0;
+    float param1 = 1.0;
+    float param2 = 0.0;
+    float param3 = 1.0;
+    float param4 = 0.0;
+    float param5 = 0.0;
+    float param6 = 0.0;
+    float param7 = 0.0;
     int component = 1;
     m_uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
     QMessageBox::information(0,"Warning","Leveling completed");
@@ -32,6 +37,7 @@ void ApmPlaneLevel::manualCheckBoxToggled(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)

src/ui/configuration/ApmSoftwareConfig.h

@@ -28,17 +28,17 @@ private slots:
     void activeUASSet(UASInterface *uas);
 private:
     Ui::ApmSoftwareConfig ui;
-    BasicPidConfig *basicPidConfig;
-    FlightModeConfig *flightConfig;
-    StandardParamConfig *standardParamConfig;
-    GeoFenceConfig *geoFenceConfig;
-    FailSafeConfig *failSafeConfig;
-    AdvancedParamConfig *advancedParamConfig;
-    ArduCopterPidConfig *arduCopterPidConfig;
-    ArduPlanePidConfig *arduPlanePidConfig;
-    ArduRoverPidConfig *arduRoverPidConfig;
-    AdvParameterList *advParameterList;
-    QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
+    BasicPidConfig *m_basicPidConfig;
+    FlightModeConfig *m_flightConfig;
+    StandardParamConfig *m_standardParamConfig;
+    GeoFenceConfig *m_geoFenceConfig;
+    FailSafeConfig *m_failSafeConfig;
+    AdvancedParamConfig *m_advancedParamConfig;
+    ArduCopterPidConfig *m_arduCopterPidConfig;
+    ArduPlanePidConfig *m_arduPlanePidConfig;
+    ArduRoverPidConfig *m_arduRoverPidConfig;
+    AdvParameterList *m_advParameterList;
+    QMap<QObject*,QWidget*> m_buttonToConfigWidgetMap;
 };
 
 #endif // APMSOFTWARECONFIG_H

src/ui/configuration/ArduCopterPidConfig.h

@@ -18,10 +18,9 @@ private slots:
     void refreshButtonClicked();
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
-    QList<QPair<int,QString> > ch6ValueToTextList;
-    QList<QPair<int,QString> > ch7ValueToTextList;
-    QList<QPair<int,QString> > ch8ValueToTextList;
-    QMap<QString,QDoubleSpinBox*> nameToBoxMap;
+    QList<QPair<int,QString> > m_ch6ValueToTextList;
+    QList<QPair<int,QString> > m_ch78ValueToTextList;
+    QMap<QString,QDoubleSpinBox*> m_nameToBoxMap;
     Ui::ArduCopterPidConfig ui;
 };
 

src/ui/configuration/ArduPlanePidConfig.cc

@@ -5,56 +5,56 @@ ArduPlanePidConfig::ArduPlanePidConfig(QWidget *parent) : AP2ConfigWidget(parent
 {
     ui.setupUi(this);
 
-    nameToBoxMap["RLL2SRV_P"] = ui.servoRollPSpinBox;
-    nameToBoxMap["RLL2SRV_I"] = ui.servoRollISpinBox;
-    nameToBoxMap["RLL2SRV_D"] = ui.servoRollDSpinBox;
-    nameToBoxMap["RLL2SRV_IMAX"] = ui.servoRollIMAXSpinBox;
-
-    nameToBoxMap["PTCH2SRV_P"] = ui.servoPitchPSpinBox;
-    nameToBoxMap["PTCH2SRV_I"] = ui.servoPitchISpinBox;
-    nameToBoxMap["PTCH2SRV_D"] = ui.servoPitchDSpinBox;
-    nameToBoxMap["PTCH2SRV_IMAX"] = ui.servoPitchIMAXSpinBox;
-
-    nameToBoxMap["YW2SRV_P"] = ui.servoYawPSpinBox;
-    nameToBoxMap["YW2SRV_I"] = ui.servoYawISpinBox;
-    nameToBoxMap["YW2SRV_D"] = ui.servoYawDSpinBox;
-    nameToBoxMap["YW2SRV_IMAX"] = ui.servoYawIMAXSpinBox;
-
-    nameToBoxMap["ALT2PTCH_P"] = ui.navAltPSpinBox;
-    nameToBoxMap["ALT2PTCH_I"] = ui.navAltISpinBox;
-    nameToBoxMap["ALT2PTCH_D"] = ui.navAltDSpinBox;
-    nameToBoxMap["ALT2PTCH_IMAX"] = ui.navAltIMAXSpinBox;
-
-    nameToBoxMap["ARSP2PTCH_P"] = ui.navASPSpinBox;
-    nameToBoxMap["ARSP2PTCH_I"] = ui.navASISpinBox;
-    nameToBoxMap["ARSP2PTCH_D"] = ui.navASDSpinBox;
-    nameToBoxMap["ARSP2PTCH_IMAX"] = ui.navASIMAXSpinBox;
-
-    nameToBoxMap["ENRGY2THR_P"] = ui.energyPSpinBox;
-    nameToBoxMap["ENRGY2THR_I"] = ui.energyISpinBox;
-    nameToBoxMap["ENRGY2THR_D"] = ui.energyDSpinBox;
-    nameToBoxMap["ENRGY2THR_IMAX"] = ui.energyIMAXSpinBox;
-
-    nameToBoxMap["KFF_PTCH2THR"] = ui.otherPitchCompSpinBox;
-    nameToBoxMap["KFF_PTCHCOMP"] = ui.otherPtTSpinBox;
-    nameToBoxMap["KFF_RDDRMIX"] = ui.otherRudderMixSpinBox;
-
-    nameToBoxMap["TRIM_THROTTLE"] = ui.throttleCruiseSpinBox;
-    nameToBoxMap["THR_FS_VALUE"] = ui.throttleFSSpinBox;
-    nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
-    nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
-
-    nameToBoxMap["TRIM_ARSPD_CM"] = ui.airspeedCruiseSpinBox;
-    nameToBoxMap["ARSPD_FBW_MAX"] = ui.airspeedFBWMaxSpinBox;
-    nameToBoxMap["ARSPD_FBW_MIN"] = ui.airspeedFBWMinSpinBox;
-    nameToBoxMap["ARSPD_RATIO"] = ui.airspeedRatioSpinBox;
-
-    nameToBoxMap["NAVL1_DAMPING"] = ui.l1DampingSpinBox;
-    nameToBoxMap["NAVL1_PERIOD"] = ui.l1PeriodSpinBox;
-
-    nameToBoxMap["LIM_ROLL_CD"] = ui.navBankMaxSpinBox;
-    nameToBoxMap["LIM_PITCH_MAX"] = ui.navPitchMaxSpinBox;
-    nameToBoxMap["LIM_PITCH_MIN"] = ui.navPitchMinSpinBox;
+    m_nameToBoxMap["RLL2SRV_P"] = ui.servoRollPSpinBox;
+    m_nameToBoxMap["RLL2SRV_I"] = ui.servoRollISpinBox;
+    m_nameToBoxMap["RLL2SRV_D"] = ui.servoRollDSpinBox;
+    m_nameToBoxMap["RLL2SRV_IMAX"] = ui.servoRollIMAXSpinBox;
+
+    m_nameToBoxMap["PTCH2SRV_P"] = ui.servoPitchPSpinBox;
+    m_nameToBoxMap["PTCH2SRV_I"] = ui.servoPitchISpinBox;
+    m_nameToBoxMap["PTCH2SRV_D"] = ui.servoPitchDSpinBox;
+    m_nameToBoxMap["PTCH2SRV_IMAX"] = ui.servoPitchIMAXSpinBox;
+
+    m_nameToBoxMap["YW2SRV_P"] = ui.servoYawPSpinBox;
+    m_nameToBoxMap["YW2SRV_I"] = ui.servoYawISpinBox;
+    m_nameToBoxMap["YW2SRV_D"] = ui.servoYawDSpinBox;
+    m_nameToBoxMap["YW2SRV_IMAX"] = ui.servoYawIMAXSpinBox;
+
+    m_nameToBoxMap["ALT2PTCH_P"] = ui.navAltPSpinBox;
+    m_nameToBoxMap["ALT2PTCH_I"] = ui.navAltISpinBox;
+    m_nameToBoxMap["ALT2PTCH_D"] = ui.navAltDSpinBox;
+    m_nameToBoxMap["ALT2PTCH_IMAX"] = ui.navAltIMAXSpinBox;
+
+    m_nameToBoxMap["ARSP2PTCH_P"] = ui.navASPSpinBox;
+    m_nameToBoxMap["ARSP2PTCH_I"] = ui.navASISpinBox;
+    m_nameToBoxMap["ARSP2PTCH_D"] = ui.navASDSpinBox;
+    m_nameToBoxMap["ARSP2PTCH_IMAX"] = ui.navASIMAXSpinBox;
+
+    m_nameToBoxMap["ENRGY2THR_P"] = ui.energyPSpinBox;
+    m_nameToBoxMap["ENRGY2THR_I"] = ui.energyISpinBox;
+    m_nameToBoxMap["ENRGY2THR_D"] = ui.energyDSpinBox;
+    m_nameToBoxMap["ENRGY2THR_IMAX"] = ui.energyIMAXSpinBox;
+
+    m_nameToBoxMap["KFF_PTCH2THR"] = ui.otherPitchCompSpinBox;
+    m_nameToBoxMap["KFF_PTCHCOMP"] = ui.otherPtTSpinBox;
+    m_nameToBoxMap["KFF_RDDRMIX"] = ui.otherRudderMixSpinBox;
+
+    m_nameToBoxMap["TRIM_THROTTLE"] = ui.throttleCruiseSpinBox;
+    m_nameToBoxMap["THR_FS_VALUE"] = ui.throttleFSSpinBox;
+    m_nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
+    m_nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
+
+    m_nameToBoxMap["TRIM_ARSPD_CM"] = ui.airspeedCruiseSpinBox;
+    m_nameToBoxMap["ARSPD_FBW_MAX"] = ui.airspeedFBWMaxSpinBox;
+    m_nameToBoxMap["ARSPD_FBW_MIN"] = ui.airspeedFBWMinSpinBox;
+    m_nameToBoxMap["ARSPD_RATIO"] = ui.airspeedRatioSpinBox;
+
+    m_nameToBoxMap["NAVL1_DAMPING"] = ui.l1DampingSpinBox;
+    m_nameToBoxMap["NAVL1_PERIOD"] = ui.l1PeriodSpinBox;
+
+    m_nameToBoxMap["LIM_ROLL_CD"] = ui.navBankMaxSpinBox;
+    m_nameToBoxMap["LIM_PITCH_MAX"] = ui.navPitchMaxSpinBox;
+    m_nameToBoxMap["LIM_PITCH_MIN"] = ui.navPitchMinSpinBox;
 
     connect(ui.writePushButton,SIGNAL(clicked()),this,SLOT(writeButtonClicked()));
     connect(ui.refreshPushButton,SIGNAL(clicked()),this,SLOT(refreshButtonClicked()));
@@ -66,18 +66,19 @@ ArduPlanePidConfig::~ArduPlanePidConfig()
 }
 void ArduPlanePidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    if (nameToBoxMap.contains(parameterName))
+    if (m_nameToBoxMap.contains(parameterName))
     {
-        nameToBoxMap[parameterName]->setValue(value.toDouble());
+        m_nameToBoxMap[parameterName]->setValue(value.toDouble());
     }
 }
 void ArduPlanePidConfig::writeButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
-    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=m_nameToBoxMap.constBegin();i!=m_nameToBoxMap.constEnd();i++)
     {
         m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
     }
@@ -87,9 +88,10 @@ void ArduPlanePidConfig::refreshButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
-    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=m_nameToBoxMap.constBegin();i!=m_nameToBoxMap.constEnd();i++)
     {
         m_uas->getParamManager()->requestParameterUpdate(1,i.key());
     }

src/ui/configuration/ArduPlanePidConfig.h

@@ -17,7 +17,7 @@ private slots:
     void writeButtonClicked();
     void refreshButtonClicked();
 private:
-    QMap<QString,QDoubleSpinBox*> nameToBoxMap;
+    QMap<QString,QDoubleSpinBox*> m_nameToBoxMap;
     Ui::ArduPlanePidConfig ui;
 };
 

src/ui/configuration/ArduRoverPidConfig.cc

@@ -49,6 +49,7 @@ void ArduRoverPidConfig::writeButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
@@ -61,6 +62,7 @@ void ArduRoverPidConfig::refreshButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)

src/ui/configuration/BatteryMonitorConfig.cc

@@ -4,11 +4,11 @@
 BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
-    ui.monitorComboBox->addItem("0: Disabled");
-    ui.monitorComboBox->addItem("3: Battery Volts");
-    ui.monitorComboBox->addItem("4: Voltage and Current");
+    ui.monitorComboBox->addItem(tr("0: Disabled"));
+    ui.monitorComboBox->addItem(tr("3: Battery Volts"));
+    ui.monitorComboBox->addItem(tr("4: Voltage and Current"));
 
-    ui.sensorComboBox->addItem("0: Other");
+    ui.sensorComboBox->addItem(tr("0: Other"));
     ui.sensorComboBox->addItem("1: AttoPilot 45A");
     ui.sensorComboBox->addItem("2: AttoPilot 90A");
     ui.sensorComboBox->addItem("3: AttoPilot 180A");
@@ -34,19 +34,24 @@ BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : AP2ConfigWidget(pa
 }
 void BatteryMonitorConfig::activeUASSet(UASInterface *uas)
 {
+    if (m_uas)
+    {
+        disconnect(m_uas,SIGNAL(batteryChanged(UASInterface*,double,double,double,int)),this,SLOT(batteryChanged(UASInterface*,double,double,double,int)));
+    }
+    AP2ConfigWidget::activeUASSet(uas);
     if (!uas)
     {
         return;
     }
     connect(uas,SIGNAL(batteryChanged(UASInterface*,double,double,double,int)),this,SLOT(batteryChanged(UASInterface*,double,double,double,int)));
-    AP2ConfigWidget::activeUASSet(uas);
+
 }
 
 void BatteryMonitorConfig::calcDividerSet()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     bool ok = false;
@@ -63,7 +68,7 @@ void BatteryMonitorConfig::ampsPerVoltSet()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     bool ok = false;
@@ -80,7 +85,7 @@ void BatteryMonitorConfig::batteryCapacitySet()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     bool ok = false;
@@ -98,10 +103,10 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
-    if (index == 0)
+    if (index == 0) //Battery Monitor Disabled
     {
         m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",-1);
         m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",-1);
@@ -114,7 +119,7 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
         ui.calcVoltsLineEdit->setEnabled(false);
         ui.ampsPerVoltsLineEdit->setEnabled(false);
     }
-    else if (index == 1)
+    else if (index == 1) //Monitor voltage only
     {
         m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",3);
         ui.sensorComboBox->setEnabled(false);
@@ -124,7 +129,7 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
         ui.calcVoltsLineEdit->setEnabled(false);
         ui.ampsPerVoltsLineEdit->setEnabled(false);
     }
-    else if (index == 2)
+    else if (index == 2) //Monitor voltage and current
     {
         m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",4);
         ui.sensorComboBox->setEnabled(true);
@@ -139,45 +144,39 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
 }
 void BatteryMonitorConfig::sensorCurrentIndexChanged(int index)
 {
-    float maxvolt = 0;
-    float maxamps = 0;
-    float mvpervolt = 0;
-    float mvperamp = 0;
-    float topvolt = 0;
-    float topamps = 0;
+    float maxvolt = 0.0;
+    float maxamps = 0.0;
+    float mvpervolt = 0.0;
+    float mvperamp = 0.0;
+    float topvolt = 0.0;
+    float topamps = 0.0;
 
     if (index == 1)
     {
-        //atto 45
+        //atto 45 see https://www.sparkfun.com/products/10643
         maxvolt = 13.6;
         maxamps = 44.7;
-        mvpervolt = 242.3;
-        mvperamp = 73.20;
     }
     else if (index == 2)
     {
-        //atto 90
-        maxvolt = 50;
+        //atto 90 see https://www.sparkfun.com/products/9028
+        maxvolt = 51.8;
         maxamps = 89.4;
-        mvpervolt = 63.69;
-        mvperamp = 36.60;
     }
     else if (index == 3)
     {
-        //atto 180
-        maxvolt = 50;
+        //atto 180 see https://www.sparkfun.com/products/10644
+        maxvolt = 51.8;
         maxamps = 178.8;
-        mvpervolt = 63.69;
-        mvperamp = 18.30;
     }
     else if (index == 4)
     {
         //3dr
-        maxvolt = 50;
-        maxamps = 90;
-        mvpervolt = 100;
-        mvperamp = 55.55;
+        maxvolt = 50.0;
+        maxamps = 90.0;
     }
+    mvpervolt = calculatemVPerVolt(3.3,maxvolt);
+    mvperamp = calculatemVPerAmp(3.3,maxamps);
     if (index == 0)
     {
         //Other
@@ -197,12 +196,21 @@ void BatteryMonitorConfig::sensorCurrentIndexChanged(int index)
         ui.measuredVoltsLineEdit->setEnabled(false);
     }
 }
+float BatteryMonitorConfig::calculatemVPerAmp(float maxvoltsout,float maxamps)
+{
+    return (1000.0 * (maxvoltsout/maxamps));
+}
+
+float BatteryMonitorConfig::calculatemVPerVolt(float maxvoltsout,float maxvolts)
+{
+    return (1000.0 * (maxvoltsout/maxvolts));
+}
 
 void BatteryMonitorConfig::apmVerCurrentIndexChanged(int index)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     if (index == 0) //APM1

src/ui/configuration/BatteryMonitorConfig.h

@@ -24,6 +24,8 @@ private slots:
     void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds);
 private:
     Ui::BatteryMonitorConfig ui;
+    inline float calculatemVPerAmp(float maxvoltsout,float maxamps);
+    inline float calculatemVPerVolt(float maxvoltsout,float maxvolts);
 };
 
 #endif // BATTERYMONITORCONFIG_H

src/ui/configuration/BatteryMonitorConfig.ui

@@ -150,7 +150,7 @@
      <x>160</x>
      <y>70</y>
      <width>281</width>
-     <height>80</height>
+     <height>91</height>
     </rect>
    </property>
    <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,1">

src/ui/configuration/CameraGimbalConfig.h

@@ -21,10 +21,10 @@ private slots:
 
 private:
     Ui::CameraGimbalConfig ui;
-    QString shutterPrefix;
-    QString rollPrefix;
-    QString tiltPrefix;
-    QString panPrefix;
+    QString m_shutterPrefix;
+    QString m_rollPrefix;
+    QString m_tiltPrefix;
+    QString m_panPrefix;
 };
 
 #endif // CAMERAGIMBALCONFIG_H

src/ui/configuration/CompassConfig.cc

 #include "CompassConfig.h"
 
 
-CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent)
+CompassConfig::CompassConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     m_uas=0;
     ui.setupUi(this);
@@ -13,9 +13,6 @@ CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent)
     connect(ui.autoDecCheckBox,SIGNAL(clicked(bool)),this,SLOT(autoDecClicked(bool)));
     connect(ui.orientationComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(orientationComboChanged(int)));
 
-    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
-    activeUASSet(UASManager::instance()->getActiveUAS());
-
     ui.orientationComboBox->addItem("ROTATION_NONE");
     ui.orientationComboBox->addItem("ROTATION_YAW_45");
     ui.orientationComboBox->addItem("ROTATION_YAW_90");
@@ -47,16 +44,6 @@ CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent)
 CompassConfig::~CompassConfig()
 {
 }
-void CompassConfig::activeUASSet(UASInterface *uas)
-{
-    if (!uas) return;
-    if (!m_uas)
-    {
-        disconnect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-    }
-    m_uas = uas;
-    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-}
 void CompassConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
     if (parameterName == "MAG_ENABLE")

src/ui/configuration/CompassConfig.h

@@ -5,7 +5,8 @@
 #include "ui_CompassConfig.h"
 #include "UASManager.h"
 #include "UASInterface.h"
-class CompassConfig : public QWidget
+#include "AP2ConfigWidget.h"
+class CompassConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -13,7 +14,6 @@ public:
     explicit CompassConfig(QWidget *parent = 0);
     ~CompassConfig();
 private slots:
-    void activeUASSet(UASInterface *uas);
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
     void enableClicked(bool enabled);
     void autoDecClicked(bool enabled);

src/ui/configuration/FailSafeConfig.cc

@@ -87,6 +87,7 @@ void FailSafeConfig::gcsChecked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -103,6 +104,7 @@ void FailSafeConfig::throttleActionChecked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -119,6 +121,7 @@ void FailSafeConfig::throttleChecked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -135,6 +138,7 @@ void FailSafeConfig::throttlePwmChanged()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->setParameter(1,"THR_FS_VALUE",ui.throttlePwmSpinBox->value());
@@ -144,6 +148,7 @@ void FailSafeConfig::throttleFailSafeChanged(int index)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->setParameter(1,"FS_THR_ENABLE",index);
@@ -153,6 +158,7 @@ void FailSafeConfig::fsLongClicked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -169,6 +175,7 @@ void FailSafeConfig::fsShortClicked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -185,6 +192,7 @@ void FailSafeConfig::batteryFailChecked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -202,11 +210,21 @@ FailSafeConfig::~FailSafeConfig()
 }
 void FailSafeConfig::activeUASSet(UASInterface *uas)
 {
+    if (m_uas)
+    {
+        disconnect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
+        disconnect(m_uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
+        disconnect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
+    }
     AP2ConfigWidget::activeUASSet(uas);
-    connect(uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
-    connect(uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
-    connect(uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
-    if (uas->getSystemType() == MAV_TYPE_FIXED_WING)
+    if (!uas)
+    {
+        return;
+    }
+    connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
+    connect(m_uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
+    connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
+    if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
     {
         ui.batteryFailCheckBox->setVisible(false);
         ui.throttleFailSafeComboBox->setVisible(false);
@@ -221,7 +239,7 @@ void FailSafeConfig::activeUASSet(UASInterface *uas)
         ui.fsLongCheckBox->setVisible(true);
         ui.fsShortCheckBox->setVisible(true);
     }
-    else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
+    else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
     {
         ui.batteryFailCheckBox->setVisible(true);
         ui.throttleFailSafeComboBox->setVisible(true);

src/ui/configuration/FlightModeConfig.cc

 #include "FlightModeConfig.h"
 
 
-FlightModeConfig::FlightModeConfig(QWidget *parent) : QWidget(parent)
+FlightModeConfig::FlightModeConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
     connect(ui.savePushButton,SIGNAL(clicked()),this,SLOT(saveButtonClicked()));
-    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(setActiveUAS(UASInterface*)));
 }
 
 FlightModeConfig::~FlightModeConfig()
 {
 }
-void FlightModeConfig::setActiveUAS(UASInterface *uas)
+void FlightModeConfig::activeUASSet(UASInterface *uas)
 {
-    if (!uas) return;
     if (m_uas)
     {
+        disconnect(m_uas,SIGNAL(modeChanged(int,QString,QString)),this,SLOT(modeChanged(int,QString,QString)));
+        disconnect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
     }
-    m_uas = uas;
+    AP2ConfigWidget::activeUASSet(uas);
+    if (!uas) return;
     connect(m_uas,SIGNAL(modeChanged(int,QString,QString)),this,SLOT(modeChanged(int,QString,QString)));
-    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
     connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
     QStringList itemlist;
     if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)

src/ui/configuration/FlightModeConfig.h

@@ -5,8 +5,9 @@
 #include "ui_FlightModeConfig.h"
 #include "UASInterface.h"
 #include "UASManager.h"
+#include "AP2ConfigWidget.h"
 
-class FlightModeConfig : public QWidget
+class FlightModeConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -14,7 +15,7 @@ public:
     explicit FlightModeConfig(QWidget *parent = 0);
     ~FlightModeConfig();
 private slots:
-    void setActiveUAS(UASInterface *uas);
+    void activeUASSet(UASInterface *uas);
     void saveButtonClicked();
     void modeChanged(int sysId, QString status, QString description);
     void remoteControlChannelRawChanged(int chan,float val);

src/ui/configuration/FrameTypeConfig.cc

@@ -32,9 +32,8 @@ This file is part of the QGROUNDCONTROL project
 #include "FrameTypeConfig.h"
 
 
-FrameTypeConfig::FrameTypeConfig(QWidget *parent) : QWidget(parent)
+FrameTypeConfig::FrameTypeConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
-    m_uas=0;
     ui.setupUi(this);
 
     //Disable until we get a FRAME parameter.
@@ -45,23 +44,11 @@ FrameTypeConfig::FrameTypeConfig(QWidget *parent) : QWidget(parent)
     connect(ui.plusRadioButton,SIGNAL(clicked()),this,SLOT(plusFrameSelected()));
     connect(ui.xRadioButton,SIGNAL(clicked()),this,SLOT(xFrameSelected()));
     connect(ui.vRadioButton,SIGNAL(clicked()),this,SLOT(vFrameSelected()));
-    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
-    activeUASSet(UASManager::instance()->getActiveUAS());
 }
 
 FrameTypeConfig::~FrameTypeConfig()
 {
 }
-void FrameTypeConfig::activeUASSet(UASInterface *uas)
-{
-    if (!uas) return;
-    if (!m_uas)
-    {
-        disconnect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-    }
-    m_uas = uas;
-    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-}
 void FrameTypeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
     if (parameterName == "FRAME")

src/ui/configuration/FrameTypeConfig.h

@@ -37,7 +37,8 @@ This file is part of the QGROUNDCONTROL project
 #include "UASInterface.h"
 #include "UASManager.h"
 #include "QGCUASParamManager.h"
-class FrameTypeConfig : public QWidget
+#include "AP2ConfigWidget.h"
+class FrameTypeConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -45,7 +46,6 @@ public:
     explicit FrameTypeConfig(QWidget *parent = 0);
     ~FrameTypeConfig();
 private slots:
-    void activeUASSet(UASInterface *uas);
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
     void xFrameSelected();
     void plusFrameSelected();

src/ui/configuration/OsdConfig.cc

@@ -14,7 +14,7 @@ void OsdConfig::enableButtonClicked()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->getParamManager()->setParameter(1,"SR0_EXT_STAT",2);

src/ui/configuration/RadioCalibrationConfig.cc

@@ -32,15 +32,12 @@ This file is part of the QGROUNDCONTROL project
 #include "RadioCalibrationConfig.h"
 #include <QMessageBox>
 
-RadioCalibrationConfig::RadioCalibrationConfig(QWidget *parent) : QWidget(parent)
+RadioCalibrationConfig::RadioCalibrationConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
 
     connect(ui.calibrateButton,SIGNAL(clicked()),this,SLOT(calibrateButtonClicked()));
-    m_uas = 0;
     m_calibrationEnabled = false;
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-    setActiveUAS(UASManager::instance()->getActiveUAS());
     ui.rollWidget->setMin(800);
     ui.rollWidget->setMax(2200);
     ui.pitchWidget->setMin(800);
@@ -79,20 +76,18 @@ RadioCalibrationConfig::RadioCalibrationConfig(QWidget *parent) : QWidget(parent
 RadioCalibrationConfig::~RadioCalibrationConfig()
 {
 }
-void RadioCalibrationConfig::setActiveUAS(UASInterface *uas)
+void RadioCalibrationConfig::activeUASSet(UASInterface *uas)
 {
-    if (uas==NULL) return;
-
     if (m_uas)
     {
-        // Disconnect old system
         disconnect(m_uas, SIGNAL(remoteControlChannelRawChanged(int,float)), this,SLOT(remoteControlChannelRawChanged(int,float)));
-        disconnect(m_uas, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,SLOT(parameterChanged(int,int,QString,QVariant)));
     }
-    m_uas = uas;
+    AP2ConfigWidget::activeUASSet(uas);
+    if (!uas)
+    {
+        return;
+    }
     connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
-    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-
 }
 void RadioCalibrationConfig::remoteControlChannelRawChanged(int chan,float val)
 {

src/ui/configuration/RadioCalibrationConfig.h

@@ -39,7 +39,8 @@ This file is part of the QGROUNDCONTROL project
 #include "ui_RadioCalibrationConfig.h"
 #include "UASManager.h"
 #include "UASInterface.h"
-class RadioCalibrationConfig : public QWidget
+#include "AP2ConfigWidget.h"
+class RadioCalibrationConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -50,7 +51,7 @@ protected:
     void showEvent(QShowEvent *event);
     void hideEvent(QHideEvent *event);
 private slots:
-    void setActiveUAS(UASInterface *uas);
+    void activeUASSet(UASInterface *uas);
     void remoteControlChannelRawChanged(int chan,float val);
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
     void guiUpdateTimerTick();

src/ui/configuration/StandardParamConfig.cc

@@ -7,13 +7,6 @@ StandardParamConfig::StandardParamConfig(QWidget *parent) : AP2ConfigWidget(pare
 StandardParamConfig::~StandardParamConfig()
 {
 }
-
-
-void StandardParamConfig::activeUASSet(UASInterface *uas)
-{
-
-    AP2ConfigWidget::activeUASSet(uas);
-}
 void StandardParamConfig::addRange(QString title,QString description,QString param,double min,double max)
 {
     ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents);

src/ui/configuration/StandardParamConfig.h

@@ -18,7 +18,6 @@ private slots:
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
     QMap<QString,ParamWidget*> paramToWidgetMap;
-    void activeUASSet(UASInterface *uas);
     Ui::StandardParamConfig ui;
 };