From 40d8fa8e4157453e8137e39620fb25abf62bcb2f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 10 Oct 2015 16:58:20 +0200
Subject: [PATCH] PX4 Power component: Add UAVCAN end enum button

---
 src/AutoPilotPlugins/PX4/PowerComponent.qml          | 7 ++++++-
 src/AutoPilotPlugins/PX4/PowerComponentController.cc | 6 ++++++
 src/AutoPilotPlugins/PX4/PowerComponentController.h  | 1 +
 3 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.qml b/src/AutoPilotPlugins/PX4/PowerComponent.qml
index 59fa2e0dc..150b4cdda 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponent.qml
+++ b/src/AutoPilotPlugins/PX4/PowerComponent.qml
@@ -277,9 +277,14 @@ QGCView {
                     }
 
                     QGCButton {
-                        text:       "Configure"
+                        text:       "Start Configuration"
                         onClicked:  controller.busConfigureActuators()
                     }
+
+                    QGCButton {
+                        text:       "End Configuration"
+                        onClicked:  controller.StopBusConfigureActuators()
+                    }
                 }
             }
 
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentController.cc b/src/AutoPilotPlugins/PX4/PowerComponentController.cc
index bcd085a51..d9cd80fb0 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/PowerComponentController.cc
@@ -55,6 +55,12 @@ void PowerComponentController::busConfigureActuators(void)
     _uas->startBusConfig(UASInterface::StartBusConfigActuators);
 }
 
+void PowerComponentController::stopBusConfigureActuators(void)
+{
+    disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+    _uas->startBusConfig(UASInterface::EndBusConfigActuators);
+}
+
 void PowerComponentController::_stopCalibration(void)
 {
     disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentController.h b/src/AutoPilotPlugins/PX4/PowerComponentController.h
index 6e1b9388f..5e608c7ca 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponentController.h
+++ b/src/AutoPilotPlugins/PX4/PowerComponentController.h
@@ -44,6 +44,7 @@ public:
     
     Q_INVOKABLE void calibrateEsc(void);
     Q_INVOKABLE void busConfigureActuators(void);
+    Q_INVOKABLE void stopBusConfigureActuators(void);
     
 signals:
     void oldFirmware(void);
-- 
2.22.0