From 4dbb954de8c7257c32a49801c46d60191c24fd8b Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Tue, 30 Jul 2013 21:09:04 -0400
Subject: [PATCH] Fix for accelerometer config failure leading to inability to
 recalibrate. Also changing screen will void calibration and require
 recalibration.

---
 .../configuration/AccelCalibrationConfig.cc   | 34 +++++++++++++++++--
 src/ui/configuration/AccelCalibrationConfig.h |  2 ++
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/src/ui/configuration/AccelCalibrationConfig.cc b/src/ui/configuration/AccelCalibrationConfig.cc
index a92702482..f552580d1 100644
--- a/src/ui/configuration/AccelCalibrationConfig.cc
+++ b/src/ui/configuration/AccelCalibrationConfig.cc
@@ -57,9 +57,29 @@ void AccelCalibrationConfig::calibrateButtonClicked()
     {
         m_uas->executeCommandAck(m_accelAckCount++,true);
         ui.calibrateAccelButton->setText("Calibrate\nAccelerometer");
+        if (m_accelAckCount > 8)
+        {
+            //We've clicked too many times! Reset.
+            for (int i=0;i<8;i++)
+            {
+                m_uas->executeCommandAck(i,true);
+            }
+            m_accelAckCount = 0;
+        }
     }
 
 }
+void AccelCalibrationConfig::hideEvent(QHideEvent *evt)
+{
+    if (!m_uas || !m_accelAckCount)
+    {
+        return;
+    }
+    for (int i=m_accelAckCount;i<8;i++)
+    {
+        m_uas->executeCommandAck(i,true); //Clear out extra commands.
+    }
+}
 void AccelCalibrationConfig::uasTextMessageReceived(int uasid, int componentid, int severity, QString text)
 {
     //command received: " Severity 1
@@ -70,7 +90,7 @@ void AccelCalibrationConfig::uasTextMessageReceived(int uasid, int componentid,
         if (m_accelAckCount == 0)
         {
             //Calibration Sucessful\r"
-            ui.calibrateAccelButton->setText("Any\nKey");
+            ui.calibrateAccelButton->setText("Continue");
             m_accelAckCount++;
         }
         if (m_accelAckCount == 7)
@@ -86,11 +106,21 @@ void AccelCalibrationConfig::uasTextMessageReceived(int uasid, int componentid,
             {
                 m_accelAckCount = 0;
             }
+            else if (text.contains("Calibration") && text.contains("FAILED")) //Failure
+            {
+                m_accelAckCount = 0;
+            }
             ui.outputLabel->setText(ui.outputLabel->text() + "\n" + text);
         }
         else
         {
-            ui.outputLabel->setText(text);
+            ui.outputLabel->setText(text.replace("press any key","click Continue below"));
+            if (!this->isVisible())
+            {
+                //Clear out!
+                m_uas->executeCommandAck(m_accelAckCount++,true);
+                ui.calibrateAccelButton->setText("Calibrate\nAccelerometer");
+            }
         }
     }
 
diff --git a/src/ui/configuration/AccelCalibrationConfig.h b/src/ui/configuration/AccelCalibrationConfig.h
index ef6f6e1a1..152656253 100644
--- a/src/ui/configuration/AccelCalibrationConfig.h
+++ b/src/ui/configuration/AccelCalibrationConfig.h
@@ -14,6 +14,8 @@ class AccelCalibrationConfig : public AP2ConfigWidget
 public:
     explicit AccelCalibrationConfig(QWidget *parent = 0);
     ~AccelCalibrationConfig();
+protected:
+    void hideEvent(QHideEvent *evt);
 private slots:
     void activeUASSet(UASInterface *uas);
     void calibrateButtonClicked();
-- 
2.22.0