Merge branch 'experimental' of git@github.com:pixhawk/qgroundcontrol into mergeRemote

qgroundcontrol.pro

@@ -422,9 +422,9 @@ contains(DEPENDENCIES_PRESENT, libfreenect) {
 RESOURCES += mavground.qrc
 
 # Include RT-LAB Library
-win32:exists(src/lib/opalrt/OpalApi.h):exists(C:\OPAL-RT\RT-LAB7.2.4\Common\bin) { 
+win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) {
     message("Building support for Opal-RT")
-    LIBS += -LC:\OPAL-RT\RT-LAB7.2.4\Common\bin \
+    LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
         -lOpalApi
     INCLUDEPATH += src/lib/opalrt
     HEADERS += src/comm/OpalRT.h \

settings/ParameterList.xml

@@ -18,7 +18,48 @@
 
   <!--Parameters related to the controller block -->
   <Block name="Controller">
-
+    <!-- Aileron Control Parameters -->
+    <Parameter
+      SimulinkPath="avionics_src/sm_avionics/Attitude_Controller/PID_AIL/kp/"
+      SimulinkParameterName="Gain"
+      QGCParamID="AIL_KP"
+       />
+    <Parameter
+      SimulinkPath="avionics_src/sm_avionics/Attitude_Controller/PID_AIL/ki/"
+      SimulinkParameterName="Gain"
+      QGCParamID="AIL_KI"
+       />
+    <Parameter
+      SimulinkPath="avionics_src/sm_avionics/Attitude_Controller/PID_AIL/kd/"
+      SimulinkParameterName="Gain"
+      QGCParamID="AIL_KD"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Attitude_Controller/PID_AIL/Angle_Norm/Max_Min_Angle/"
+       SimulinkParameterName="Constant Value"
+       QGCParamID="ANG_AIL_MAX"
+       />
+    <!-- Elevator Control Parameters -->
+    <Parameter
+      SimulinkPath="avionics_src/sm_avionics/Attitude_Controller/PID_ELE/kp/"
+      SimulinkParameterName="Gain"
+      QGCParamID="ELE_KP"
+       />
+    <Parameter
+      SimulinkPath="avionics_src/sm_avionics/Attitude_Controller/PID_ELE/ki/"
+      SimulinkParameterName="Gain"
+      QGCParamID="ELE_KI"
+       />
+    <Parameter
+      SimulinkPath="avionics_src/sm_avionics/Attitude_Controller/PID_ELE/kd/"
+      SimulinkParameterName="Gain"
+      QGCParamID="ELE_KD"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Attitude_Controller/PID_ELE/Angle_Norm/Max_Min_Angle/"
+       SimulinkParameterName="Constant Value"
+       QGCParamID="ANG_ELE_MAX"
+       />
   </Block>
 
   <!-- Paremters for the Pilot Input/Raw RC block -->
@@ -27,7 +68,7 @@
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/AileronInput/"
        SimulinkParameterName="Setpoint0"
-       QGCParamID="AIL_RIGHT_IN"
+       QGCParamID="AIL_LEFT_IN"
        />
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/AileronInput/"
@@ -37,7 +78,7 @@
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Pilot_Inputs/AileronInput/"
        SimulinkParameterName="Setpoint2"
-       QGCParamID="AIL_LEFT_IN"
+       QGCParamID="AIL_RIGHT_IN"
        />
     <!-- Settings for Elevator Servo -->
     <Parameter
@@ -143,45 +184,44 @@
     <!-- Settings for Aileron Servo -->
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
-       SimulinkParameterName="Low"
-       QGCParamID="AIL_LOW_OUT"
+       SimulinkParameterName="Setpoint0"
+       QGCParamID="AIL_LEFT_OUT"
        />
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
-       SimulinkParameterName="Center"
+       SimulinkParameterName="Setpoint1"
        QGCParamID="AIL_CENTER_OUT"
        />
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
-       SimulinkParameterName="High"
-       QGCParamID="AIL_HIGH_OUT"
+       SimulinkParameterName="Setpoint2"
+       QGCParamID="AIL_RIGHT_OUT"
        />
     <Parameter
-       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
-       SimulinkParameterName="Reverse"
-       QGCParamID="AIL_REV_OUT"
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronMix/Controller_Mix/"
+       SimulinkParameterName="Constant Value"
+       QGCParamID="MIX_AIL"
        />
-
     <!-- Settings for Elevator Servo -->
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
-       SimulinkParameterName="Low"
-       QGCParamID="ELE_LOW_OUT"
+       SimulinkParameterName="Setpoint0"
+       QGCParamID="ELE_DOWN_OUT"
        />
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
-       SimulinkParameterName="Center"
+       SimulinkParameterName="Setpoint1"
        QGCParamID="ELE_CENTER_OUT"
        />
     <Parameter
        SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
-       SimulinkParameterName="High"
-       QGCParamID="ELE_HIGH_OUT"
+       SimulinkParameterName="Setpoint2"
+       QGCParamID="ELE_UP_OUT"
        />
     <Parameter
-       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
-       SimulinkParameterName="Reverse"
-       QGCParamID="ELE_REV_OUT"
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorMix/Controller_Mix/"
+       SimulinkParameterName="Constant Value"
+       QGCParamID="MIX_ELE"
        />
   </Block>
 </ParameterList>

src/comm/OpalLink.cc

@@ -41,7 +41,9 @@ OpalLink::OpalLink() :
         componentID(1),
         params(NULL),
         opalInstID(101),
-        sendRCValues(false)
+        sendRCValues(false),
+        sendRawController(false),
+        sendPosition(false)
 {
     start(QThread::LowPriority);
 
@@ -134,13 +136,13 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
                 }
             }
             break;
-        case MAVLINK_MSG_ID_REQUEST_RC_CHANNELS:
-        {
-        	mavlink_request_rc_channels_t rc;
-        	mavlink_msg_request_rc_channels_decode(&msg, &rc);        	
-        	this->sendRCValues = static_cast<bool>(rc.enabled);
-        }
-        break;
+//        case MAVLINK_MSG_ID_REQUEST_RC_CHANNELS:
+//        {
+//        	mavlink_request_rc_channels_t rc;
+//        	mavlink_msg_request_rc_channels_decode(&msg, &rc);
+//        	this->sendRCValues = static_cast<bool>(rc.enabled);
+//        }
+//        break;
 #ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
         case MAVLINK_MSG_ID_RADIO_CALIBRATION:
         {
@@ -157,17 +159,29 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
             /* AILERON SERVO */
             if (params->contains(OpalRT::SERVO_INPUTS, "AIL_RIGHT_IN"))
                 params->getParameter(OpalRT::SERVO_INPUTS, "AIL_RIGHT_IN").setValue(((radio.aileron[0]>900 /*in us?*/)?radio.aileron[0]/1000:radio.aileron[0]));
+            if (params->contains(OpalRT::SERVO_OUTPUTS, "AIL_RIGHT_OUT"))
+                params->getParameter(OpalRT::SERVO_OUTPUTS, "AIL_RIGHT_OUT").setValue(((radio.aileron[0]>900 /*in us?*/)?radio.aileron[0]/1000:radio.aileron[0]));
             if (params->contains(OpalRT::SERVO_INPUTS, "AIL_CENTER_IN"))
                 params->getParameter(OpalRT::SERVO_INPUTS, "AIL_CENTER_IN").setValue(((radio.aileron[1]>900 /*in us?*/)?radio.aileron[1]/1000:radio.aileron[1]));
+            if (params->contains(OpalRT::SERVO_OUTPUTS, "AIL_CENTER_OUT"))
+                params->getParameter(OpalRT::SERVO_OUTPUTS, "AIL_CENTER_OUT").setValue(((radio.aileron[1]>900 /*in us?*/)?radio.aileron[1]/1000:radio.aileron[1]));
             if (params->contains(OpalRT::SERVO_INPUTS, "AIL_LEFT_IN"))
                 params->getParameter(OpalRT::SERVO_INPUTS, "AIL_LEFT_IN").setValue(((radio.aileron[2]>900 /*in us?*/)?radio.aileron[2]/1000:radio.aileron[2]));
+            if (params->contains(OpalRT::SERVO_OUTPUTS, "AIL_LEFT_OUT"))
+                params->getParameter(OpalRT::SERVO_OUTPUTS, "AIL_LEFT_OUT").setValue(((radio.aileron[2]>900 /*in us?*/)?radio.aileron[2]/1000:radio.aileron[2]));
             /* ELEVATOR SERVO */
             if (params->contains(OpalRT::SERVO_INPUTS, "ELE_DOWN_IN"))
                 params->getParameter(OpalRT::SERVO_INPUTS, "ELE_DOWN_IN").setValue(((radio.elevator[0]>900 /*in us?*/)?radio.elevator[0]/1000:radio.elevator[0]));
+            if (params->contains(OpalRT::SERVO_OUTPUTS, "ELE_DOWN_OUT"))
+                params->getParameter(OpalRT::SERVO_OUTPUTS, "ELE_DOWN_OUT").setValue(((radio.elevator[0]>900 /*in us?*/)?radio.elevator[0]/1000:radio.elevator[0]));
             if (params->contains(OpalRT::SERVO_INPUTS, "ELE_CENTER_IN"))
                 params->getParameter(OpalRT::SERVO_INPUTS, "ELE_CENTER_IN").setValue(((radio.elevator[1]>900 /*in us?*/)?radio.elevator[1]/1000:radio.elevator[1]));
+            if (params->contains(OpalRT::SERVO_OUTPUTS, "ELE_CENTER_OUT"))
+                params->getParameter(OpalRT::SERVO_OUTPUTS, "ELE_CENTER_OUT").setValue(((radio.elevator[1]>900 /*in us?*/)?radio.elevator[1]/1000:radio.elevator[1]));
             if (params->contains(OpalRT::SERVO_INPUTS, "ELE_UP_IN"))
                 params->getParameter(OpalRT::SERVO_INPUTS, "ELE_UP_IN").setValue(((radio.elevator[2]>900 /*in us?*/)?radio.elevator[2]/1000:radio.elevator[2]));
+            if (params->contains(OpalRT::SERVO_OUTPUTS, "ELE_UP_OUT"))
+                params->getParameter(OpalRT::SERVO_OUTPUTS, "ELE_UP_OUT").setValue(((radio.elevator[2]>900 /*in us?*/)?radio.elevator[2]/1000:radio.elevator[2]));
             /* THROTTLE SERVO */
             if (params->contains(OpalRT::SERVO_INPUTS, "THR_SET0_IN"))
                 params->getParameter(OpalRT::SERVO_INPUTS, "THR_SET0_IN").setValue(((radio.throttle[0]>900 /*in us?*/)?radio.throttle[0]/1000:radio.throttle[0]));
@@ -205,11 +219,50 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
         }
         break;
 #endif
+#ifdef MAVLINK_ENABLED_PIXHAWK
+        case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
+        {
+            mavlink_request_data_stream_t stream;
+            mavlink_msg_request_data_stream_decode(&msg, &stream);
+            switch (stream.req_stream_id)
+            {
+            case 0: // All data types
+                break;
+            case 1: // Raw Sensor Data
+                break;
+            case 2: // extended system status
+                break;
+            case 3: // rc channel data
+                sendRCValues = (stream.start_stop == 1?true:false);
+                break;
+            case 4: // raw controller
+                if (stream.start_stop == 1)
+                    sendRawController = true;
+                else
+                    sendRawController = false;
+                break;
+            case 5: // raw sensor fusion
+                break;
+            case 6: // position
+                sendPosition = (stream.start_stop == 1?true:false);
+                break;
+            case 7: // extra 1
+                break;
+            case 8: // extra 2
+                break;
+            case 9: // extra 3
+                break;
+            default:
+                qDebug() << __FILE__ << __LINE__ << "Received Unknown Data Strem Request with ID" << stream.req_stream_id;
+            }
+        }
+        break;
         default:
             {
                 qDebug() << "OpalLink::writeBytes(): Unknown mavlink packet";
             }
         }
+#endif
     }
 }
 
@@ -282,17 +335,19 @@ void OpalLink::getSignals()
         if (returnVal == EOK )
         {            
             /* Send position info to qgroundcontrol */
-            mavlink_message_t local_position;
-            mavlink_msg_local_position_pack(systemID, componentID, &local_position,
-                                            (*timestep)*1000000,
-                                            values[OpalRT::X_POS],
-                                            values[OpalRT::Y_POS],
-                                            values[OpalRT::Z_POS],
-                                            values[OpalRT::X_VEL],
-                                            values[OpalRT::Y_VEL],
-                                            values[OpalRT::Z_VEL]);
-            receiveMessage(local_position);
-
+            if (sendPosition)
+            {
+                mavlink_message_t local_position;
+                mavlink_msg_local_position_pack(systemID, componentID, &local_position,
+                                                (*timestep)*1000000,
+                                                values[OpalRT::X_POS],
+                                                values[OpalRT::Y_POS],
+                                                values[OpalRT::Z_POS],
+                                                values[OpalRT::X_VEL],
+                                                values[OpalRT::Y_VEL],
+                                                values[OpalRT::Z_VEL]);
+                receiveMessage(local_position);
+            }
             /* send attitude info to qgroundcontrol */
             mavlink_message_t attitude;
             mavlink_msg_attitude_pack(systemID, componentID, &attitude,
@@ -336,6 +391,18 @@ void OpalLink::getSignals()
                                              );
                 receiveMessage(rc);
             }
+            if (sendRawController)
+            {
+                mavlink_message_t rawController;
+                mavlink_msg_attitude_controller_output_pack(systemID, componentID, &rawController,
+                                                            1,
+                                                            rescaleControllerOutput(values[OpalRT::CONTROLLER_AILERON]),
+                                                            rescaleControllerOutput(values[OpalRT::CONTROLLER_ELEVATOR]),
+                                                            0, // yaw not used
+                                                            0 // thrust not used
+                                                            );
+                receiveMessage(rawController);
+            }
         }        
         else if (returnVal != EAGAIN) // if returnVal == EAGAIN => data just wasn't ready
         {
@@ -408,10 +475,12 @@ uint8_t OpalLink::rescaleNorm(double norm, int ch)
         return static_cast<uint8_t>(norm*255);
         break;
     }
-
-
 }
 
+int8_t OpalLink::rescaleControllerOutput(double raw)
+{
+    return static_cast<int8_t>((raw>=0?raw*127:raw*128));
+}
 
 bool OpalLink::connect()
 {

src/comm/OpalLink.h

@@ -153,8 +153,11 @@ protected:
 
     uint16_t duty2PulseMicros(double duty);
     uint8_t rescaleNorm(double norm, int ch);
+    int8_t rescaleControllerOutput(double raw);
 
     bool sendRCValues;
+    bool sendRawController;
+    bool sendPosition;
 };
 
 #endif // OPALLINK_H

src/comm/OpalRT.h

@@ -41,7 +41,7 @@ namespace OpalRT
       Configuration info for the model
      */
 
-    const unsigned short NUM_OUTPUT_SIGNALS=42;
+    const unsigned short NUM_OUTPUT_SIGNALS=48;
 
     /*  ------------------------------ Outputs ------------------------------
     *
@@ -103,7 +103,13 @@ namespace OpalRT
         NORM_CHANNEL_7,
         NORM_CHANNEL_8,
         CONTROLLER_AILERON,
-        CONTROLLER_ELEVATOR
+        CONTROLLER_ELEVATOR,
+        AIL_POUT,
+        AIL_IOUT,
+        AIL_DOUT,
+        ELE_POUT,
+        ELE_IOUT,
+        ELE_DOUT
     };       
 
     /** Component IDs of the parameters.  Currently they are all 1 becuase there is no advantage
@@ -112,9 +118,9 @@ namespace OpalRT
        */
     enum SubsystemIds
     {
-        NAV_ID = 1,
-        LOG_ID,
-        CONTROLLER_ID,
+        NAV = 1,
+        LOG,
+        CONTROLLER,
         SERVO_OUTPUTS,
         SERVO_INPUTS
     };

src/comm/Parameter.h

@@ -61,8 +61,8 @@ namespace OpalRT
 
         const QGCParamID& getParamID() const {return *paramID;}
         void setOpalID(unsigned short opalID) {this->opalID = opalID;}
-        const QString& getSimulinkPath() {return *simulinkPath;}
-        const QString& getSimulinkName() {return *simulinkName;}
+        const QString& getSimulinkPath() const {return *simulinkPath;}
+        const QString& getSimulinkName() const {return *simulinkName;}
         uint8_t getComponentID() const {return componentID;}
         float getValue();
         void setValue(float value);

src/comm/ParameterList.cc

@@ -45,9 +45,15 @@ ParameterList::ParameterList()
     reqdServoParams->append("AIL_RIGHT_IN");
     reqdServoParams->append("AIL_CENTER_IN");
     reqdServoParams->append("AIL_LEFT_IN");
+    reqdServoParams->append("AIL_RIGHT_OUT");
+    reqdServoParams->append("AIL_CENTER_OUT");
+    reqdServoParams->append("AIL_LEFT_OUT");
     reqdServoParams->append("ELE_DOWN_IN");
     reqdServoParams->append("ELE_CENTER_IN");
     reqdServoParams->append("ELE_UP_IN");
+    reqdServoParams->append("ELE_DOWN_OUT");
+    reqdServoParams->append("ELE_CENTER_OUT");
+    reqdServoParams->append("ELE_UP_OUT");
     reqdServoParams->append("RUD_LEFT_IN");
     reqdServoParams->append("RUD_CENTER_IN");
     reqdServoParams->append("RUD_RIGHT_IN");
@@ -285,6 +291,15 @@ bool ParameterList::read(QIODevice *device)
         child = child.nextSiblingElement("Block");
     }
 
+    if (!reqdServoParams->empty())
+    {
+        qDebug() << __FILE__ << __LINE__ << "Missing the following required servo parameters";
+        foreach(QString s, *reqdServoParams)
+        {
+            qDebug() << s;
+        }
+    }
+
     delete paramConfig;
     return true;
 }
@@ -297,9 +312,9 @@ void ParameterList::parseBlock(const QDomElement &block)
     Parameter *p;
     SubsystemIds id;
     if (block.attribute("name") == "Navigation")
-        id = OpalRT::NAV_ID;
+        id = OpalRT::NAV;
     else if (block.attribute("name") == "Controller")
-        id = OpalRT::CONTROLLER_ID;
+        id = OpalRT::CONTROLLER;
     else if (block.attribute("name") == "ServoOutputs")
         id = OpalRT::SERVO_OUTPUTS;
     else if (block.attribute("name") == "ServoInputs")
@@ -332,13 +347,6 @@ void ParameterList::parseBlock(const QDomElement &block)
             }
         }
 
-        if (!reqdServoParams->empty())
-        {
-            qDebug() << __FILE__ << __LINE__ << "Missing the following required servo parameters";
-            foreach(QString s, *reqdServoParams)
-            {
-                qDebug() << s;
-            }
-        }
+
 
 }

src/comm/ParameterList.h

@@ -53,11 +53,11 @@ namespace OpalRT
             const_iterator(const const_iterator& other);
 
             const_iterator& operator+=(int i) {index += i; return *this;}
-            bool operator<(const const_iterator& other) {return (this->paramList == other.paramList)
+            bool operator<(const const_iterator& other) const {return (this->paramList == other.paramList)
                                                          &&(this->index<other.index);}
-            bool operator==(const const_iterator& other) {return (this->paramList == other.paramList)
+            bool operator==(const const_iterator& other) const {return (this->paramList == other.paramList)
                                                           &&(this->index==other.index);}
-            bool operator!=(const const_iterator& other) {return !((*this) == other);}
+            bool operator!=(const const_iterator& other) const {return !((*this) == other);}
             const Parameter& operator*() const {return paramList[index];}
             const Parameter* operator->() const {return &paramList[index];}
 

src/ui/HUD.cc

@@ -721,7 +721,8 @@ void HUD::paintHUD()
     painter.drawRoundedRect(compassRect, 2, 2);
     QString yawAngle;
 
-    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
+//    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
+    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f);
     //qDebug() << "YAW: " << yawDeg;
     yawAngle.sprintf("%03d", (int)yawDeg);
     paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);

src/ui/RadioCalibration/RadioCalibrationData.cc

@@ -48,18 +48,14 @@ const float* RadioCalibrationData::operator [](int i) const
     return NULL;
 }
 
-const QVector<float>& RadioCalibrationData::operator ()(int i) const
+const QVector<float>& RadioCalibrationData::operator ()(const int i) const throw(std::out_of_range)
 {
-    if (i < data->size())
+    if ((i < data->size()) && (i >=0))
     {
         return (*data)[i];
     }
 
-    // FIXME Bryan
-    // FIXME James
-
-    // This is not good.  If it is ever used after being returned it will cause a crash
-//    return QVector<float>();
+    throw std::out_of_range("Invalid channel index");
 }
 
 QString RadioCalibrationData::toString(RadioElement element) const

src/ui/RadioCalibration/RadioCalibrationData.h

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 #include <QVector>
 #include <QString>
+#include <stdexcept>
 
 
 /**
@@ -66,7 +67,7 @@ public:
     };
 
     const float* operator[](int i) const;
-    const QVector<float>& operator()(int i) const;
+    const QVector<float>& operator()(int i) const throw(std::out_of_range);
     void set(int element, int index, float value) {(*data)[element][index] = value;}
 
 public slots:

src/ui/RadioCalibration/RadioCalibrationWindow.cc

@@ -52,38 +52,38 @@ RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
     setUASId(0);
 }
 
-void RadioCalibrationWindow::setChannelRaw(int ch, float raw)
-{
-    /** this expects a particular channel to function mapping
-       \todo allow run-time channel mapping
-       */
-    switch (ch)
-    {
-    case 0:
-        aileron->channelChanged(raw);
-        break;
-    case 1:
-        elevator->channelChanged(raw);
-        break;
-    case 2:
-        throttle->channelChanged(raw);
-        break;
-    case 3:
-        rudder->channelChanged(raw);
-        break;
-    case 4:
-        gyro->channelChanged(raw);
-        break;
-    case 5:
-        pitch->channelChanged(raw);
-        break;
+//void RadioCalibrationWindow::setChannelRaw(int ch, float raw)
+//{
+//    /** this expects a particular channel to function mapping
+//       \todo allow run-time channel mapping
+//       */
+//    switch (ch)
+//    {
+//    case 0:
+//        aileron->channelChanged(raw);
+//        break;
+//    case 1:
+//        elevator->channelChanged(raw);
+//        break;
+//    case 2:
+//        throttle->channelChanged(raw);
+//        break;
+//    case 3:
+//        rudder->channelChanged(raw);
+//        break;
+//    case 4:
+//        gyro->channelChanged(raw);
+//        break;
+//    case 5:
+//        pitch->channelChanged(raw);
+//        break;
 
 
-    }
-}
+//    }
+//}
 
-void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
-{
+//void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
+//{
     // FIXME James
     // FIXME Bryan
 
@@ -113,9 +113,9 @@ void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
 
 
 //    }
-}
+//}
 
-void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
+void RadioCalibrationWindow::setChannel(int ch, float raw)
 {
     /** this expects a particular channel to function mapping
        \todo allow run-time channel mapping

src/ui/RadioCalibration/RadioCalibrationWindow.h

@@ -66,9 +66,10 @@ public:
     explicit RadioCalibrationWindow(QWidget *parent = 0);
 
 public slots:
-    void setChannel(int ch, float raw, float normalized);
-    void setChannelRaw(int ch, float raw);
-    void setChannelScaled(int ch, float normalized);
+    void setChannel(int ch, float raw);
+    // @todo remove these functions if they are not needed - were added by lm on dec 14, 2010
+//    void setChannelRaw(int ch, float raw);
+//    void setChannelScaled(int ch, float normalized);
     void loadFile();
     void saveFile();
     void send();