From 40807732f6c1878a1f584f9229890854b4e83f7a Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Tue, 2 Jul 2013 08:38:48 -0400
Subject: [PATCH] Change in implementation details for Camera Gimbal Config,
 usable now, but needs more error checking.

---
 src/ui/configuration/ApmHardwareConfig.ui  |   8 +-
 src/ui/configuration/CameraGimbalConfig.cc | 471 +++++++++++++++++++--
 src/ui/configuration/CameraGimbalConfig.h  |   4 +
 src/ui/configuration/CameraGimbalConfig.ui |  39 +-
 4 files changed, 479 insertions(+), 43 deletions(-)

diff --git a/src/ui/configuration/ApmHardwareConfig.ui b/src/ui/configuration/ApmHardwareConfig.ui
index 87e2230ed..bb3818e76 100644
--- a/src/ui/configuration/ApmHardwareConfig.ui
+++ b/src/ui/configuration/ApmHardwareConfig.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>984</width>
-    <height>553</height>
+    <width>1225</width>
+    <height>827</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -313,8 +313,8 @@
     <rect>
      <x>200</x>
      <y>30</y>
-     <width>721</width>
-     <height>491</height>
+     <width>921</width>
+     <height>761</height>
     </rect>
    </property>
    <property name="currentIndex">
diff --git a/src/ui/configuration/CameraGimbalConfig.cc b/src/ui/configuration/CameraGimbalConfig.cc
index 64b20d250..7aef99903 100644
--- a/src/ui/configuration/CameraGimbalConfig.cc
+++ b/src/ui/configuration/CameraGimbalConfig.cc
@@ -67,23 +67,23 @@ CameraGimbalConfig::CameraGimbalConfig(QWidget *parent) : AP2ConfigWidget(parent
     connect(ui.tiltReverseCheckBox,SIGNAL(clicked(bool)),this,SLOT(updateTilt()));
     connect(ui.tiltStabilizeCheckBox,SIGNAL(clicked(bool)),this,SLOT(updateTilt()));
 
-    connect(ui.rollServoMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updateTilt()));
-    connect(ui.rollServoMaxSpinBox,SIGNAL(editingFinished()),this,SLOT(updateTilt()));
-    connect(ui.rollAngleMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updateTilt()));
-    connect(ui.rollAngleMaxSpinBox,SIGNAL(editingFinished()),this,SLOT(updateTilt()));
-    connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-    connect(ui.rollInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-    connect(ui.rollReverseCheckBox,SIGNAL(clicked(bool)),this,SLOT(updateTilt()));
-    connect(ui.rollStabilizeCheckBox,SIGNAL(clicked(bool)),this,SLOT(updateTilt()));
-
-    connect(ui.panServoMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updateTilt()));
-    connect(ui.panServoMaxSpinBox,SIGNAL(editingFinished()),this,SLOT(updateTilt()));
-    connect(ui.panAngleMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updateTilt()));
-    connect(ui.panAngleMaxSpinBox,SIGNAL(editingFinished()),this,SLOT(updateTilt()));
-    connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-    connect(ui.panInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-    connect(ui.panReverseCheckBox,SIGNAL(clicked(bool)),this,SLOT(updateTilt()));
-    connect(ui.panStabilizeCheckBox,SIGNAL(clicked(bool)),this,SLOT(updateTilt()));
+    connect(ui.rollServoMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updateRoll()));
+    connect(ui.rollServoMaxSpinBox,SIGNAL(editingFinished()),this,SLOT(updateRoll()));
+    connect(ui.rollAngleMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updateRoll()));
+    connect(ui.rollAngleMaxSpinBox,SIGNAL(editingFinished()),this,SLOT(updateRoll()));
+    connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+    connect(ui.rollInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+    connect(ui.rollReverseCheckBox,SIGNAL(clicked(bool)),this,SLOT(updateRoll()));
+    connect(ui.rollStabilizeCheckBox,SIGNAL(clicked(bool)),this,SLOT(updateRoll()));
+
+    connect(ui.panServoMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updatePan()));
+    connect(ui.panServoMaxSpinBox,SIGNAL(editingFinished()),this,SLOT(updatePan()));
+    connect(ui.panAngleMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updatePan()));
+    connect(ui.panAngleMaxSpinBox,SIGNAL(editingFinished()),this,SLOT(updatePan()));
+    connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+    connect(ui.panInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+    connect(ui.panReverseCheckBox,SIGNAL(clicked(bool)),this,SLOT(updatePan()));
+    connect(ui.panStabilizeCheckBox,SIGNAL(clicked(bool)),this,SLOT(updatePan()));
 
 
     connect(ui.shutterServoMinSpinBox,SIGNAL(editingFinished()),this,SLOT(updateShutter()));
@@ -103,20 +103,22 @@ void CameraGimbalConfig::updateTilt()
         QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
         return;
     }
+    if (!tiltPrefix.isEmpty())
+    {
+        //We need to set this to 0 for disabled.
+        m_uas->getParamManager()->setParameter(1,tiltPrefix + "FUNCTION",0);
+    }
     if (ui.tiltChannelComboBox->currentIndex() == 0)
     {
         //Disabled
         return;
     }
-    for (QMap<int,QString>::const_iterator i = m_uas->getComponents().constBegin(); i != m_uas->getComponents().constEnd();i++)
-    {
-        qDebug() << "Component:" << i.key() << "Name:" << i.value();
-    }
+
     m_uas->getParamManager()->setParameter(1,ui.tiltChannelComboBox->currentText() + "_FUNCTION",7);
     m_uas->getParamManager()->setParameter(1,ui.tiltChannelComboBox->currentText() + "_MIN",ui.tiltServoMinSpinBox->value());
     m_uas->getParamManager()->setParameter(1,ui.tiltChannelComboBox->currentText() + "_MAX",ui.tiltServoMaxSpinBox->value());
-    m_uas->getParamManager()->setParameter(1,"MNT_ANGMIN_TIL",ui.tiltAngleMinSpinBox->value());
-    m_uas->getParamManager()->setParameter(1,"MNT_ANGMAX_TIL",ui.tiltAngleMaxSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_ANGMIN_TIL",ui.tiltAngleMinSpinBox->value() * 100);
+    m_uas->getParamManager()->setParameter(1,"MNT_ANGMAX_TIL",ui.tiltAngleMaxSpinBox->value() * 100);
     m_uas->getParamManager()->setParameter(1,ui.tiltChannelComboBox->currentText() + "_REV",(ui.tiltReverseCheckBox->isChecked() ? 1 : 0));
     if (ui.tiltInputChannelComboBox->currentIndex() == 0)
     {
@@ -138,8 +140,8 @@ void CameraGimbalConfig::updateRoll()
     m_uas->getParamManager()->setParameter(1,ui.rollChannelComboBox->currentText() + "_FUNCTION",8);
     m_uas->getParamManager()->setParameter(1,ui.rollChannelComboBox->currentText() + "_MIN",ui.rollServoMinSpinBox->value());
     m_uas->getParamManager()->setParameter(1,ui.rollChannelComboBox->currentText() + "_MAX",ui.rollServoMaxSpinBox->value());
-    m_uas->getParamManager()->setParameter(1,"MNT_ANGMIN_ROL",ui.rollAngleMinSpinBox->value());
-    m_uas->getParamManager()->setParameter(1,"MNT_ANGMAX_ROL",ui.rollAngleMaxSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_ANGMIN_ROL",ui.rollAngleMinSpinBox->value() * 100);
+    m_uas->getParamManager()->setParameter(1,"MNT_ANGMAX_ROL",ui.rollAngleMaxSpinBox->value() * 100);
     m_uas->getParamManager()->setParameter(1,ui.rollChannelComboBox->currentText() + "_REV",(ui.rollReverseCheckBox->isChecked() ? 1 : 0));
     if (ui.rollInputChannelComboBox->currentIndex() == 0)
     {
@@ -161,8 +163,8 @@ void CameraGimbalConfig::updatePan()
     m_uas->getParamManager()->setParameter(1,ui.panChannelComboBox->currentText() + "_FUNCTION",6);
     m_uas->getParamManager()->setParameter(1,ui.panChannelComboBox->currentText() + "_MIN",ui.panServoMinSpinBox->value());
     m_uas->getParamManager()->setParameter(1,ui.panChannelComboBox->currentText() + "_MAX",ui.panServoMaxSpinBox->value());
-    m_uas->getParamManager()->setParameter(1,"MNT_ANGMIN_PAN",ui.panAngleMinSpinBox->value());
-    m_uas->getParamManager()->setParameter(1,"MNT_ANGMAX_PAN",ui.panAngleMaxSpinBox->value());
+    m_uas->getParamManager()->setParameter(1,"MNT_ANGMIN_PAN",ui.panAngleMinSpinBox->value() * 100);
+    m_uas->getParamManager()->setParameter(1,"MNT_ANGMAX_PAN",ui.panAngleMaxSpinBox->value() * 100);
     m_uas->getParamManager()->setParameter(1,ui.panChannelComboBox->currentText() + "_REV",(ui.panReverseCheckBox->isChecked() ? 1 : 0));
     if (ui.panInputChannelComboBox->currentIndex() == 0)
     {
@@ -214,5 +216,420 @@ CameraGimbalConfig::~CameraGimbalConfig()
 
 void CameraGimbalConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
+    connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+    disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+    connect(ui.tiltInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+    disconnect(ui.tiltInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
 
+    connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+    disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+    connect(ui.panInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+    disconnect(ui.panInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+
+    connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+    disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+    connect(ui.rollInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+    disconnect(ui.rollInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+
+    connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+    disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+
+    if (parameterName == "MNT_ANGMIN_TIL") //TILT
+    {
+        ui.tiltAngleMinSpinBox->setValue(value.toInt() / 100.0);
+    }
+    else if (parameterName == "MNT_ANGMAX_TIL")
+    {
+        ui.tiltAngleMaxSpinBox->setValue(value.toInt() / 100.0);
+    }
+    else if (parameterName == "MNT_RC_IN_TILT")
+    {
+        disconnect(ui.tiltInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+        if (value.toInt() == 0)
+        {
+            ui.tiltInputChannelComboBox->setCurrentIndex(0);
+        }
+        else
+        {
+            ui.tiltInputChannelComboBox->setCurrentIndex(value.toInt()-4);
+        }
+        connect(ui.tiltInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+    }
+    else if (parameterName == "MNT_ANGMIN_ROL") //ROLL
+    {
+        ui.rollAngleMinSpinBox->setValue(value.toInt() / 100.0);
+    }
+    else if (parameterName == "MNT_ANGMAX_ROL")
+    {
+        ui.rollAngleMaxSpinBox->setValue(value.toInt() / 100.0);
+    }
+    else if (parameterName == "MNT_RC_IN_ROLL")
+    {
+        disconnect(ui.rollInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+        if (value.toInt() == 0)
+        {
+            ui.rollInputChannelComboBox->setCurrentIndex(0);
+        }
+        else
+        {
+            ui.rollInputChannelComboBox->setCurrentIndex(value.toInt()-4);
+        }
+        connect(ui.rollInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+    }
+    else if (parameterName == "MNT_ANGMIN_PAN") //PAN
+    {
+        ui.panAngleMinSpinBox->setValue(value.toInt() / 100.0);
+    }
+    else if (parameterName == "MNT_ANGMAX_PAN")
+    {
+        ui.panAngleMaxSpinBox->setValue(value.toInt() / 100.0);
+    }
+    else if (parameterName == "MNT_RC_IN_PAN")
+    {
+        disconnect(ui.panInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+        if (value.toInt() == 0)
+        {
+            ui.panInputChannelComboBox->setCurrentIndex(0);
+        }
+        else
+        {
+            ui.panInputChannelComboBox->setCurrentIndex(value.toInt()-4);
+        }
+        connect(ui.panInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+    }
+    if (parameterName == "CAM_DURATION")
+    {
+        ui.shutterDurationSpinBox->setValue(value.toInt());
+    }
+    else if (parameterName == "CAM_SERVO_OFF")
+    {
+        ui.shutterNotPushedSpinBox->setValue(value.toInt());
+    }
+    else if (parameterName == "CAM_SERVO_ON")
+    {
+        ui.shutterPushedSpinBox->setValue(value.toInt());
+    }
+    else if (parameterName == "CAM_TRIGG_TYPE")
+    {
+        disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+        if (value.toInt() == 0) //Disabled
+        {
+            ui.shutterChannelComboBox->setCurrentIndex(0);
+            ///TODO: Request all _FUNCTIONs here to find out if shutter is actually disabled.
+        }
+        else if (value.toInt() == 1) // Relay
+        {
+            ui.shutterChannelComboBox->setCurrentIndex(1);
+        }
+        else if (value.toInt() == 4) //Transistor
+        {
+            ui.shutterChannelComboBox->setCurrentIndex(2);
+        }
+        connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+    }
+    if (parameterName.startsWith(shutterPrefix) && !shutterPrefix.isEmpty())
+    {
+        if (parameterName.endsWith("MIN"))
+        {
+            ui.shutterServoMinSpinBox->setValue(value.toInt());
+        }
+        else if (parameterName.endsWith("MAX"))
+        {
+            ui.shutterServoMaxSpinBox->setValue(value.toInt());
+        }
+    }
+    else if (parameterName.startsWith(tiltPrefix) && !tiltPrefix.isEmpty())
+    {
+        if (parameterName.endsWith("MIN"))
+        {
+            ui.tiltServoMinSpinBox->setValue(value.toInt());
+        }
+        else if (parameterName.endsWith("MAX"))
+        {
+            ui.tiltServoMaxSpinBox->setValue(value.toInt());
+        }
+        else if (parameterName.endsWith("REV"))
+        {
+            if (value.toInt() == 0)
+            {
+                ui.tiltReverseCheckBox->setChecked(false);
+            }
+            else
+            {
+                ui.tiltReverseCheckBox->setChecked(true);
+            }
+        }
+    }
+    else if (parameterName.startsWith(rollPrefix) && !rollPrefix.isEmpty())
+    {
+        if (parameterName.endsWith("MIN"))
+        {
+            ui.rollServoMinSpinBox->setValue(value.toInt());
+        }
+        else if (parameterName.endsWith("MAX"))
+        {
+            ui.rollServoMaxSpinBox->setValue(value.toInt());
+        }
+        else if (parameterName.endsWith("REV"))
+        {
+            if (value.toInt() == 0)
+            {
+                ui.rollReverseCheckBox->setChecked(false);
+            }
+            else
+            {
+                ui.rollReverseCheckBox->setChecked(true);
+            }
+        }
+    }
+    else if (parameterName.startsWith(panPrefix) && !panPrefix.isEmpty())
+    {
+        if (parameterName.endsWith("MIN"))
+        {
+            ui.panServoMinSpinBox->setValue(value.toInt());
+        }
+        else if (parameterName.endsWith("MAX"))
+        {
+            ui.panServoMaxSpinBox->setValue(value.toInt());
+        }
+        else if (parameterName.endsWith("REV"))
+        {
+            if (value.toInt() == 0)
+            {
+                ui.panReverseCheckBox->setChecked(false);
+            }
+            else
+            {
+                ui.panReverseCheckBox->setChecked(true);
+            }
+        }
+    }
+    else if (parameterName == "RC5_FUNCTION")
+    {
+        if (value.toInt() == 10)
+        {
+            //RC5 is shutter.
+            disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            ui.shutterChannelComboBox->setCurrentIndex(3);
+            connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            shutterPrefix = "RC5_";
+        }
+        else if (value.toInt() == 8)
+        {
+            //RC5 is roll
+            disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            ui.rollChannelComboBox->setCurrentIndex(1);
+            connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            rollPrefix = "RC5_";
+        }
+        else if (value.toInt() == 7)
+        {
+            //RC5 is tilt
+            disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            ui.tiltChannelComboBox->setCurrentIndex(1);
+            connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            tiltPrefix = "RC5_";
+        }
+        else if (value.toInt() == 6)
+        {
+            //RC5 is pan
+            disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            ui.panChannelComboBox->setCurrentIndex(1);
+            connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            panPrefix = "RC5_";
+        }
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC5_MIN");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC5_MAX");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC5_REV");
+    }
+    else if (parameterName == "RC6_FUNCTION")
+    {
+        if (value.toInt() == 10)
+        {
+            //RC6 is shutter.
+            disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            ui.shutterChannelComboBox->setCurrentIndex(4);
+            connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            shutterPrefix = "RC6_";
+        }
+        else if (value.toInt() == 8)
+        {
+            //RC6 is roll
+            disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            ui.rollChannelComboBox->setCurrentIndex(2);
+            connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            rollPrefix = "RC6_";
+        }
+        else if (value.toInt() == 7)
+        {
+            //RC6 is tilt
+            disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            ui.tiltChannelComboBox->setCurrentIndex(2);
+            connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            tiltPrefix = "RC6_";
+        }
+        else if (value.toInt() == 6)
+        {
+            //RC6 is pan
+            disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            ui.panChannelComboBox->setCurrentIndex(2);
+            connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            panPrefix = "RC6_";
+        }
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC6_MIN");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC6_MAX");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC6_REV");
+    }
+    else if (parameterName == "RC7_FUNCTION")
+    {
+        if (value.toInt() == 10)
+        {
+            //RC7 is shutter.
+            disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            ui.shutterChannelComboBox->setCurrentIndex(5);
+            connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            shutterPrefix = "RC7_";
+        }
+        else if (value.toInt() == 8)
+        {
+            //RC7 is roll
+            disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            ui.rollChannelComboBox->setCurrentIndex(3);
+            connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            rollPrefix = "RC7_";
+        }
+        else if (value.toInt() == 7)
+        {
+            //RC7 is tilt
+            disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            ui.tiltChannelComboBox->setCurrentIndex(3);
+            connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            tiltPrefix = "RC7_";
+        }
+        else if (value.toInt() == 6)
+        {
+            //RC7 is pan
+            disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            ui.panChannelComboBox->setCurrentIndex(3);
+            connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            panPrefix = "RC7_";
+        }
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC7_MIN");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC7_MAX");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC7_REV");
+    }
+    else if (parameterName == "RC8_FUNCTION")
+    {
+        if (value.toInt() == 10)
+        {
+            //RC8 is shutter.
+            disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            ui.shutterChannelComboBox->setCurrentIndex(6);
+            connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            shutterPrefix = "RC8_";
+        }
+        else if (value.toInt() == 8)
+        {
+            //RC8 is roll
+            disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            ui.rollChannelComboBox->setCurrentIndex(4);
+            connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            rollPrefix = "RC8_";
+        }
+        else if (value.toInt() == 7)
+        {
+            //RC8 is tilt
+            disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            ui.tiltChannelComboBox->setCurrentIndex(4);
+            connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            tiltPrefix = "RC8_";
+        }
+        else if (value.toInt() == 6)
+        {
+            //RC8 is pan
+            disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            ui.panChannelComboBox->setCurrentIndex(4);
+            connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            panPrefix = "RC8_";
+        }
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC8_MIN");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC8_MAX");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC8_REV");
+    }
+    else if (parameterName == "RC10_FUNCTION")
+    {
+        if (value.toInt() == 10)
+        {
+            //RC10 is shutter.
+            disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            ui.shutterChannelComboBox->setCurrentIndex(7);
+            connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            shutterPrefix = "RC10_";
+        }
+        else if (value.toInt() == 8)
+        {
+            //RC10 is roll
+            disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            ui.rollChannelComboBox->setCurrentIndex(5);
+            connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            rollPrefix = "RC10_";
+        }
+        else if (value.toInt() == 7)
+        {
+            //RC10 is tilt
+            disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            ui.tiltChannelComboBox->setCurrentIndex(5);
+            connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            tiltPrefix = "RC10_";
+        }
+        else if (value.toInt() == 6)
+        {
+            //RC10 is pan
+            disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            ui.panChannelComboBox->setCurrentIndex(5);
+            connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            panPrefix = "RC10_";
+        }
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC10_MIN");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC10_MAX");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC10_REV");
+    }
+    else if (parameterName == "RC11_FUNCTION")
+    {
+        if (value.toInt() == 10)
+        {
+            //RC11 is shutter.
+            disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            ui.shutterChannelComboBox->setCurrentIndex(8);
+            connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
+            shutterPrefix = "RC11_";
+        }
+        else if (value.toInt() == 8)
+        {
+            //RC11 is roll
+            disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            ui.rollChannelComboBox->setCurrentIndex(6);
+            connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
+            rollPrefix = "RC11_";
+        }
+        else if (value.toInt() == 7)
+        {
+            //RC11 is tilt
+            disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            ui.tiltChannelComboBox->setCurrentIndex(6);
+            connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
+            tiltPrefix = "RC11_";
+        }
+        else if (value.toInt() == 6)
+        {
+            //RC11 is pan
+            disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            ui.panChannelComboBox->setCurrentIndex(6);
+            connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
+            panPrefix = "RC11_";
+        }
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC11_MIN");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC11_MAX");
+        m_uas->getParamManager()->requestParameterUpdate(1,"RC11_REV");
+    }
 }
diff --git a/src/ui/configuration/CameraGimbalConfig.h b/src/ui/configuration/CameraGimbalConfig.h
index 92714f4fb..2608752b1 100644
--- a/src/ui/configuration/CameraGimbalConfig.h
+++ b/src/ui/configuration/CameraGimbalConfig.h
@@ -21,6 +21,10 @@ private slots:
 
 private:
     Ui::CameraGimbalConfig ui;
+    QString shutterPrefix;
+    QString rollPrefix;
+    QString tiltPrefix;
+    QString panPrefix;
 };
 
 #endif // CAMERAGIMBALCONFIG_H
diff --git a/src/ui/configuration/CameraGimbalConfig.ui b/src/ui/configuration/CameraGimbalConfig.ui
index 7b1feb438..75dec1117 100644
--- a/src/ui/configuration/CameraGimbalConfig.ui
+++ b/src/ui/configuration/CameraGimbalConfig.ui
@@ -174,21 +174,24 @@
     </item>
     <item row="2" column="6">
      <widget class="QSpinBox" name="tiltAngleMinSpinBox">
+      <property name="minimum">
+       <number>-100</number>
+      </property>
       <property name="maximum">
-       <number>3000</number>
+       <number>100</number>
       </property>
       <property name="value">
-       <number>1000</number>
+       <number>100</number>
       </property>
      </widget>
     </item>
     <item row="3" column="6">
      <widget class="QSpinBox" name="tiltAngleMaxSpinBox">
       <property name="maximum">
-       <number>3000</number>
+       <number>100</number>
       </property>
       <property name="value">
-       <number>2000</number>
+       <number>-100</number>
       </property>
      </widget>
     </item>
@@ -345,21 +348,27 @@
     </item>
     <item row="2" column="6">
      <widget class="QSpinBox" name="rollAngleMinSpinBox">
+      <property name="minimum">
+       <number>-100</number>
+      </property>
       <property name="maximum">
-       <number>3000</number>
+       <number>100</number>
       </property>
       <property name="value">
-       <number>1000</number>
+       <number>100</number>
       </property>
      </widget>
     </item>
     <item row="3" column="6">
      <widget class="QSpinBox" name="rollAngleMaxSpinBox">
+      <property name="minimum">
+       <number>-100</number>
+      </property>
       <property name="maximum">
-       <number>3000</number>
+       <number>100</number>
       </property>
       <property name="value">
-       <number>2000</number>
+       <number>100</number>
       </property>
      </widget>
     </item>
@@ -503,21 +512,27 @@
     </item>
     <item row="2" column="6">
      <widget class="QSpinBox" name="panAngleMinSpinBox">
+      <property name="minimum">
+       <number>-100</number>
+      </property>
       <property name="maximum">
-       <number>3000</number>
+       <number>100</number>
       </property>
       <property name="value">
-       <number>1000</number>
+       <number>100</number>
       </property>
      </widget>
     </item>
     <item row="3" column="6">
      <widget class="QSpinBox" name="panAngleMaxSpinBox">
+      <property name="minimum">
+       <number>-100</number>
+      </property>
       <property name="maximum">
-       <number>3000</number>
+       <number>100</number>
       </property>
       <property name="value">
-       <number>2000</number>
+       <number>100</number>
       </property>
      </widget>
     </item>
-- 
2.22.0