Fixed RC mapping check

qgroundcontrol.qrc

@@ -180,6 +180,8 @@
         <file>files/images/px4/menu/plane.png</file>
         <file>files/images/px4/menu/remote.png</file>
         <file>files/images/px4/menu/cogwheels.png</file>
+        <file>files/images/px4/rc/cessna_back.png</file>
+        <file>files/images/px4/rc/cessna_side.png</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">files/styles/Vera.ttf</file>

src/ui/QGCPX4VehicleConfig.cc

@@ -60,6 +60,8 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     #ifdef QUPGRADE_SUPPORT
     firmwareDialog(NULL),
     #endif
+    planeBack(":/files/images/px4/rc/cessna_back.png"),
+    planeSide(":/files/images/px4/rc/cessna_side.png"),
     ui(new Ui::QGCPX4VehicleConfig)
 {
     doneLoadingConfig = false;
@@ -142,6 +144,15 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     connect(ui->advancedCheckBox, SIGNAL(clicked(bool)), ui->advancedGroupBox, SLOT(setVisible(bool)));
     ui->advancedGroupBox->setVisible(false);
 
+    connect(ui->advancedCheckBox, SIGNAL(clicked(bool)), ui->graphicsView, SLOT(setHidden(bool)));
+    ui->graphicsView->setScene(&scene);
+
+    scene.addPixmap(planeBack);
+    scene.addPixmap(planeSide);
+
+    // XXX hide while WIP
+    ui->graphicsView->hide();
+
     ui->rcCalibrationButton->setCheckable(true);
     connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
 
@@ -209,6 +220,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
         rcMappedMin[i] = 1000;
         rcMappedMax[i] = 2000;
         rcMappedValue[i] = UINT16_MAX;
+        rcMappedValueRev[i] = UINT16_MAX;
         rcMappedNormalizedValue[i] = 0.0f;
     }
 
@@ -217,6 +229,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
         rcMappedMin[i] = 1000;
         rcMappedMax[i] = 2000;
         rcMappedValue[i] = UINT16_MAX;
+        rcMappedValueRev[i] = UINT16_MAX;
         rcMappedNormalizedValue[i] = 0.0f;
     }
 
@@ -1184,13 +1197,12 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float fval)
     }
 
     // Raw value
-    float mappedVal = rcMappedValue[rcToFunctionMapping[chan]];
     float deltaRaw = fabsf(fval - rcValue[chan]);
-    float delta = fabsf(fval - mappedVal);
+    float delta = fabsf(fval - rcMappedValue[rcToFunctionMapping[chan]]);
     if (!configEnabled && !calibrationEnabled &&
         (deltaRaw < 12.0f && delta < 12.0f && rcValue[chan] > 800 && rcValue[chan] < 2200))
     {
-        //ignore tiny jitter values
+        // ignore tiny jitter values
         return;
     }
     else {
@@ -1281,17 +1293,13 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float fval)
     normalized = (rcRev[chan]) ? -1.0f*normalized : normalized;
 
     // Find correct mapped channel
-    for (unsigned int i = 0; i < chanCount; i++) {
-        if (chan == rcMapping[i]) {
-            rcMappedValue[i] = (rcRev[chan]) ? rcMax[chan] - (fval - rcMin[chan]) : fval;
+    rcMappedValueRev[rcToFunctionMapping[chan]] = (rcRev[chan]) ? rcMax[chan] - (fval - rcMin[chan]) : fval;
+    rcMappedValue[rcToFunctionMapping[chan]] = fval;
 
-            // Copy min / max
-            rcMappedMin[i] = rcMin[chan];
-            rcMappedMax[i] = rcMax[chan];
-
-            rcMappedNormalizedValue[i] = normalized;
-        }
-    }
+    // Copy min / max
+    rcMappedMin[rcToFunctionMapping[chan]] = rcMin[chan];
+    rcMappedMax[rcToFunctionMapping[chan]] = rcMax[chan];
+    rcMappedNormalizedValue[rcToFunctionMapping[chan]] = normalized;
 
     if (chan == rcMapping[0]) {
         rcRoll = normalized;

src/ui/QGCPX4VehicleConfig.h

@@ -8,6 +8,7 @@
 #include <QPushButton>
 #include <QStringList>
 #include <QMessageBox>
+#include <QGraphicsScene>
 
 #include "QGCToolWidget.h"
 #include "UASInterface.h"
@@ -285,10 +286,11 @@ protected:
     float rcScaling[chanMax];           ///< Scaling of channel input to control commands
     bool rcRev[chanMax];                ///< Channel reverse
     int rcValue[chanMax];               ///< Last values, RAW
-    float rcValueReversed[chanMax];            ///< Last values, accounted for reverse
-    float rcMappedMin[chanMappedMax];            ///< Mapped channels in default order
-    float rcMappedMax[chanMappedMax];            ///< Mapped channels in default order
-    float rcMappedValue[chanMappedMax];            ///< Mapped channels in default order
+    int rcValueReversed[chanMax];            ///< Last values, accounted for reverse
+    int rcMappedMin[chanMappedMax];            ///< Mapped channels in default order
+    int rcMappedMax[chanMappedMax];            ///< Mapped channels in default order
+    int rcMappedValue[chanMappedMax];            ///< Mapped channels in default order
+    int rcMappedValueRev[chanMappedMax];
     float rcMappedNormalizedValue[chanMappedMax];            ///< Mapped channels in default order
     int channelWanted;                  ///< During channel assignment search the requested default index
     int channelReverseStateWanted;
@@ -323,8 +325,11 @@ protected:
 
     QGCPX4AirframeConfig* px4AirframeConfig;
     DialogBare* firmwareDialog;
+    QPixmap planeBack;
+    QPixmap planeSide;
     QGCPX4SensorCalibration* px4SensorCalibration;
     QMessageBox msgBox;
+    QGraphicsScene scene;
     QPushButton* skipActionButton;
 
 private:

src/ui/QGCPX4VehicleConfig.ui

@@ -42,7 +42,7 @@
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>0</number>
+        <number>1</number>
        </property>
        <widget class="QWidget" name="firmwareTab">
         <layout class="QVBoxLayout" name="firmwareLayout"/>
@@ -205,6 +205,9 @@
            </property>
           </widget>
          </item>
+         <item>
+          <widget class="QGraphicsView" name="graphicsView"/>
+         </item>
          <item>
           <widget class="QGroupBox" name="advancedGroupBox">
            <property name="title">
@@ -819,8 +822,8 @@
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>21</width>
+                   <height>16</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_4">
@@ -856,8 +859,8 @@
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>21</width>
+                   <height>16</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_5">
@@ -907,8 +910,8 @@
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>16</width>
+                   <height>16</height>
                   </rect>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_7">