send rc to paramter map prototype

v1.0 @ c0a0dff2

-Subproject commit 7d0aa0205ef8bd13bf855b21d3ebe054dc9109ef
+Subproject commit c0a0dff2b36a97614208559a23a9804ab9f2e636

qgroundcontrol.pro

@@ -166,10 +166,10 @@ WindowsBuild {
 }
 
 #
-# By default warnings as errors are turned off. Even so, in order for a pull request 
-# to be accepted you must compile cleanly with warnings as errors turned on the default 
-# set of OS builds. See http://www.qgroundcontrol.org/dev/contribute for more details. 
-# You can use the WarningsAsErrorsOn CONFIG switch to turn warnings as errors on for your 
+# By default warnings as errors are turned off. Even so, in order for a pull request
+# to be accepted you must compile cleanly with warnings as errors turned on the default
+# set of OS builds. See http://www.qgroundcontrol.org/dev/contribute for more details.
+# You can use the WarningsAsErrorsOn CONFIG switch to turn warnings as errors on for your
 # own builds.
 #
 
@@ -239,7 +239,7 @@ RESOURCES += qgroundcontrol.qrc
 TRANSLATIONS += \
     es-MX.ts \
     en-US.ts
-    
+
 DEPENDPATH += \
     . \
     plugins
@@ -343,6 +343,7 @@ FORMS += \
     src/ui/px4_configuration/PX4FirmwareUpgrade.ui \
     src/ui/QGCUASFileView.ui \
     src/QGCQmlWidgetHolder.ui \
+    src/ui/QGCMapRCToParamDialog.ui
 
 HEADERS += \
     src/MG.h \
@@ -495,6 +496,8 @@ HEADERS += \
     src/QGCQuickWidget.h \
     src/QGCPalette.h \
     src/QGCQmlWidgetHolder.h \
+    src/ui/QGCParamTreeWidget.h \
+    src/ui/QGCMapRCToParamDialog.h
 
 SOURCES += \
     src/main.cc \
@@ -636,13 +639,15 @@ SOURCES += \
     src/QGCQuickWidget.cc \
     src/QGCPalette.cc \
     src/QGCQmlWidgetHolder.cpp \
+    src/ui/QGCParamTreeWidget.cpp \
+    src/ui/QGCMapRCToParamDialog.cpp
 
 #
 # Unit Test specific configuration goes here
 #
 # We have to special case Windows debug_and_release builds because you can't have files
-# which are only in the debug variant [QTBUG-40351]. So in this case we include unit tests 
-# even in the release variant. If you want a Windows release build with no unit tests run 
+# which are only in the debug variant [QTBUG-40351]. So in this case we include unit tests
+# even in the release variant. If you want a Windows release build with no unit tests run
 # qmake with CONFIG-=debug_and_release CONFIG+=release.
 #
 

src/uas/UAS.cc

@@ -2357,7 +2357,7 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
 
     // Insert with correct type
     // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
-    
+
     switch (rawValue.param_type) {
         case MAV_PARAM_TYPE_REAL32:
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
@@ -2366,7 +2366,7 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
                 paramValue = QVariant(paramUnion.param_float);
             }
             break;
-            
+
         case MAV_PARAM_TYPE_UINT8:
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                 paramValue = QVariant(QChar((unsigned char)paramUnion.param_float));
@@ -2374,7 +2374,7 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
                 paramValue = QVariant(QChar((unsigned char)paramUnion.param_uint8));
             }
             break;
-            
+
         case MAV_PARAM_TYPE_INT8:
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                 paramValue = QVariant(QChar((char)paramUnion.param_float));
@@ -2382,7 +2382,7 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
                 paramValue = QVariant(QChar((char)paramUnion.param_int8));
             }
             break;
-            
+
         case MAV_PARAM_TYPE_INT16:
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                 paramValue = QVariant((short)paramUnion.param_float);
@@ -2390,7 +2390,7 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
                 paramValue = QVariant(paramUnion.param_int16);
             }
             break;
-            
+
         case MAV_PARAM_TYPE_UINT32:
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                 paramValue = QVariant((unsigned int)paramUnion.param_float);
@@ -2405,13 +2405,13 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
                 paramValue = QVariant(paramUnion.param_int32);
             }
             break;
-            
+
         default:
             qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
     }
 
     qCDebug(UASLog) << "Received PARAM_VALUE" << paramName << paramValue << rawValue.param_type;
-    
+
     parameters.value(compId)->insert(paramName, paramValue);
     emit parameterChanged(uasId, compId, paramName, paramValue);
     emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, paramValue);
@@ -3290,12 +3290,12 @@ void UAS::removeLink(QObject* object)
 {
     qCDebug(UASLog) << "removeLink:" << QString("%1").arg((ulong)object, 0, 16);
     qCDebug(UASLog) << "link count:" << links.count();
-    
+
     // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already
     // been destroyed.
-    
+
     LinkInterface* link = (LinkInterface*)object;
-    
+
     int index = links.indexOf(link);
     Q_ASSERT(index != -1);
     links.removeAt(index);
@@ -3467,3 +3467,41 @@ void UAS::stopLowBattAlarm()
         lowBattAlarm = false;
     }
 }
+
+void UAS::sendMapRCToParam(QString param_id, float scale, float current_value, quint8 param_rc_channel_index)
+{
+    qDebug() << "sendMapRCToParam" << param_id << "scale" << scale << "curval" << current_value << "param rc chan index" << param_rc_channel_index;
+    mavlink_message_t message;
+
+    mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
+                                  mavlink->getComponentId(),
+                                  &message,
+                                  this->uasId,
+                                  0,
+                                  param_id.toStdString().c_str(),
+                                  -1,
+                                  param_rc_channel_index,
+                                  current_value,
+                                  scale);
+    sendMessage(message);
+    qDebug() << "Mavlink message sent";
+}
+void UAS::unsetRCToParameterMap()
+{
+    qDebug() << "unsetRCToParameterMap";
+    for (int i = 0; i < 3; i++) {
+        mavlink_message_t message;
+        mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
+                                      mavlink->getComponentId(),
+                                      &message,
+                                      this->uasId,
+                                      0,
+                                      "",
+                                      -2,
+                                      i,
+                                      0.0f,
+                                      0.0f);
+        sendMessage(message);
+    }
+}
+

src/uas/UAS.h

@@ -883,6 +883,12 @@ public slots:
 
     /** @brief Triggers the action associated with the given ID. */
     void triggerAction(int action);
+
+    /** @brief Send command to map a RC channel to a parameter */
+    void sendMapRCToParam(QString param_id, float scale, float current_value, quint8 param_rc_channel_index);
+
+    /** @brief Send command to disable all bindings/maps between RC and parameters */
+    void unsetRCToParameterMap();
 signals:
     /** @brief The main/battery voltage has changed/was updated */
     //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already

src/uas/UASInterface.h

@@ -199,32 +199,32 @@ public:
      */
     static QColor getNextColor() {
         /* Create color map */
-        static QList<QColor> colors = QList<QColor>() 
-		<< QColor(231,72,28) 
-		<< QColor(104,64,240) 
-		<< QColor(203,254,121) 
+        static QList<QColor> colors = QList<QColor>()
+		<< QColor(231,72,28)
+		<< QColor(104,64,240)
+		<< QColor(203,254,121)
 		<< QColor(161,252,116)
-               	<< QColor(232,33,47) 
-		<< QColor(116,251,110) 
-		<< QColor(234,38,107) 
+               	<< QColor(232,33,47)
+		<< QColor(116,251,110)
+		<< QColor(234,38,107)
 		<< QColor(104,250,138)
-                << QColor(235,43,165) 
-		<< QColor(98,248,176) 
-		<< QColor(236,48,221) 
+                << QColor(235,43,165)
+		<< QColor(98,248,176)
+		<< QColor(236,48,221)
 		<< QColor(92,247,217)
-                << QColor(200,54,238) 
-		<< QColor(87,231,246) 
-		<< QColor(151,59,239) 
+                << QColor(200,54,238)
+		<< QColor(87,231,246)
+		<< QColor(151,59,239)
 		<< QColor(81,183,244)
-                << QColor(75,133,243) 
-		<< QColor(242,255,128) 
+                << QColor(75,133,243)
+		<< QColor(242,255,128)
 		<< QColor(230,126,23);
-        
+
         static int nextColor = -1;
         if(nextColor == 18){//if at the end of the list
             nextColor = -1;//go back to the beginning
         }
-        nextColor++; 
+        nextColor++;
         return colors[nextColor];//return the next color
    }
 
@@ -391,6 +391,12 @@ public slots:
     virtual void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
                             float flow_comp_m_y, quint8 quality, float ground_distance) = 0;
 
+    /** @brief Send command to map a RC channel to a parameter */
+    virtual void sendMapRCToParam(QString param_id, float scale, float current_value, quint8 param_rc_channel_index) = 0;
+
+    /** @brief Send command to disable all bindings/maps between RC and parameters */
+    virtual void unsetRCToParameterMap() = 0;
+
 protected:
     QColor color;
 

src/ui/QGCMapRCToParamDialog.cpp

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @author Thomas Gubler <thomasgubler@gmail.com>
+
+#include "QGCMapRCToParamDialog.h"
+#include "ui_QGCMapRCToParamDialog.h"
+
+#include <QDebug>
+#include <QTimer>
+#include <QEventLoop>
+#include <QShowEvent>
+#include <QPushButton>
+
+QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id,
+        UASInterface *mav, QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::QGCMapRCToParamDialog),
+    param_id(param_id),
+    mav(mav)
+{
+    ui->setupUi(this);
+
+    // only enable ok button when param was refreshed
+    QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
+    okButton->setEnabled(false);
+
+    ui->paramIdLabel->setText(param_id);
+
+    // Refresh the param
+    ParamLoader *paramLoader = new ParamLoader(param_id, mav);
+    paramLoader->moveToThread(&paramLoadThread);
+    connect(&paramLoadThread, &QThread::finished, paramLoader, &QObject::deleteLater);
+    connect(this, &QGCMapRCToParamDialog::refreshParam, paramLoader, &ParamLoader::load);
+    connect(paramLoader, &ParamLoader::paramLoaded, this, &QGCMapRCToParamDialog::paramLoaded);
+    paramLoadThread.start();
+    emit refreshParam();
+}
+
+QGCMapRCToParamDialog::~QGCMapRCToParamDialog()
+{
+    delete ui;
+}
+
+void QGCMapRCToParamDialog::accept() {
+    emit mapRCToParamDialogResult(param_id,
+            (float)ui->scaleDoubleSpinBox->value(),
+            (float)ui->value0DoubleSpinBox->value(),
+            (quint8)ui->rcParamChannelComboBox->currentIndex());
+
+    QDialog::accept();
+}
+
+void QGCMapRCToParamDialog::paramLoaded(bool success, float value, QString message)
+{
+    paramLoadThread.quit();
+    if (success) {
+        ui->infoLabel->setText("Parameter value is up to date");
+        ui->value0DoubleSpinBox->setValue(value);
+        ui->value0DoubleSpinBox->setEnabled(true);
+
+        connect(this, &QGCMapRCToParamDialog::mapRCToParamDialogResult,
+                mav, &UASInterface::sendMapRCToParam);
+        QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
+        okButton->setEnabled(true);
+    } else {
+        qDebug() << "Error while reading param" << param_id;
+        ui->infoLabel->setText("Error while refreshing param (" + message + ")");
+    }
+}
+
+void ParamLoader::load()
+{
+        // refresh the parameter from onboard to make sure the current value is used
+        paramMgr->requestParameterUpdate(paramMgr->getDefaultComponentId(), param_id);
+
+        // wait until parameter update is received
+        QEventLoop loop;
+        QTimer timer;
+        connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+        timer.start(10 * 1e3);
+        // overloaded signal:
+        connect(mav, static_cast<void (UASInterface::*)(
+                    int, int, QString, QVariant)>(&UASInterface::parameterChanged),
+                this, &ParamLoader::handleParameterChanged);
+        connect(this, &ParamLoader::correctParameterChanged,
+                &loop, &QEventLoop::quit);
+        loop.exec();
+
+        if (!param_received == true) {
+            // timeout
+            emit paramLoaded(false, 0.0f, "Timeout");
+            return;
+        }
+
+        QVariant current_param_value;
+        bool got_param = paramMgr->getParameterValue(paramMgr->getDefaultComponentId(),
+                param_id, current_param_value);
+
+        QString message = got_param ? "" : "param manager Error";
+        emit paramLoaded(got_param, current_param_value.toFloat(), message);
+}
+
+void ParamLoader::handleParameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (uas == mav->getUASID() && parameterName == param_id) {
+        param_received = true;
+        emit correctParameterChanged();
+    }
+}

src/ui/QGCMapRCToParamDialog.h

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @brief Dialog to configure RC to paramter mapping
+///     @author Thomas Gubler <thomasgubler@gmail.com>
+
+#ifndef QGCMAPRCTOPARAMDIALOG_H
+#define QGCMAPRCTOPARAMDIALOG_H
+
+#include <QDialog>
+#include <QThread>
+#include "UASInterface.h"
+
+namespace Ui {
+class QGCMapRCToParamDialog;
+}
+
+
+class ParamLoader : public QObject
+{
+    Q_OBJECT
+
+public:
+    ParamLoader(QString param_id, UASInterface *mav, QObject * parent = 0):
+    QObject(parent),
+    mav(mav),
+    paramMgr(mav->getParamManager()),
+    param_id(param_id),
+    param_received(false)
+{}
+
+public slots:
+    void load();
+    void handleParameterChanged(int uas, int component, QString parameterName, QVariant value);
+
+signals:
+    void paramLoaded(bool success, float value, QString message = "");
+    void correctParameterChanged();
+
+protected:
+    UASInterface *mav;
+    QGCUASParamManagerInterface* paramMgr;
+    QString param_id;
+    bool param_received;
+};
+
+class QGCMapRCToParamDialog : public QDialog
+{
+    Q_OBJECT
+    QThread paramLoadThread;
+
+public:
+    explicit QGCMapRCToParamDialog(QString param_id,
+            UASInterface *mav, QWidget *parent = 0);
+    ~QGCMapRCToParamDialog();
+
+signals:
+    void mapRCToParamDialogResult(QString param_id, float scale, float current_value,
+            quint8 param_rc_channel_index);
+    void refreshParam();
+
+public slots:
+    void accept();
+    void paramLoaded(bool success, float value, QString message);
+
+protected:
+    // void showEvent(QShowEvent * event );
+    QString param_id;
+    UASInterface *mav;
+
+private:
+    Ui::QGCMapRCToParamDialog *ui;
+};
+
+#endif // QGCMAPRCTOPARAMDIALOG_H

src/ui/QGCMapRCToParamDialog.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMapRCToParamDialog</class>
+ <widget class="QDialog" name="QGCMapRCToParamDialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QDialogButtonBox" name="buttonBox">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>240</y>
+     <width>341</width>
+     <height>32</height>
+    </rect>
+   </property>
+   <property name="orientation">
+    <enum>Qt::Horizontal</enum>
+   </property>
+   <property name="standardButtons">
+    <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+   </property>
+  </widget>
+  <widget class="QWidget" name="formLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>9</y>
+     <width>381</width>
+     <height>231</height>
+    </rect>
+   </property>
+   <layout class="QFormLayout" name="formLayout">
+    <property name="fieldGrowthPolicy">
+     <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+    </property>
+    <item row="3" column="0">
+     <widget class="QLabel" name="paramIdInfoLabel">
+      <property name="text">
+       <string>Parameter</string>
+      </property>
+     </widget>
+    </item>
+    <item row="3" column="1">
+     <widget class="QLabel" name="paramIdLabel">
+      <property name="text">
+       <string>TextLabel</string>
+      </property>
+     </widget>
+    </item>
+    <item row="5" column="0">
+     <widget class="QLabel" name="scaleInfoLabel">
+      <property name="text">
+       <string>Scale</string>
+      </property>
+     </widget>
+    </item>
+    <item row="5" column="1">
+     <widget class="QDoubleSpinBox" name="scaleDoubleSpinBox">
+      <property name="value">
+       <double>1.000000000000000</double>
+      </property>
+     </widget>
+    </item>
+    <item row="6" column="0">
+     <widget class="QLabel" name="value0InfoLabel">
+      <property name="text">
+       <string>Initial Value</string>
+      </property>
+     </widget>
+    </item>
+    <item row="6" column="1">
+     <widget class="QDoubleSpinBox" name="value0DoubleSpinBox">
+      <property name="enabled">
+       <bool>false</bool>
+      </property>
+      <property name="decimals">
+       <number>8</number>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="0">
+     <widget class="QLabel" name="rcParamChannelInfoLabel">
+      <property name="text">
+       <string>RC-Parameter Channel (Knob No.)</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="1">
+     <widget class="QComboBox" name="rcParamChannelComboBox">
+      <property name="editable">
+       <bool>false</bool>
+      </property>
+      <property name="currentText">
+       <string>1</string>
+      </property>
+      <item>
+       <property name="text">
+        <string>1</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>2</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>3</string>
+       </property>
+      </item>
+     </widget>
+    </item>
+    <item row="0" column="0">
+     <widget class="QLabel" name="label1">
+      <property name="text">
+       <string>Bind</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="0">
+     <widget class="QLabel" name="label2">
+      <property name="text">
+       <string>to</string>
+      </property>
+     </widget>
+    </item>
+    <item row="4" column="0">
+     <widget class="QLabel" name="label3">
+      <property name="text">
+       <string>with</string>
+      </property>
+     </widget>
+    </item>
+    <item row="8" column="0">
+     <widget class="QLabel" name="infoLabel">
+      <property name="text">
+       <string>Waiting for parameter refresh,,,</string>
+      </property>
+     </widget>
+    </item>
+    <item row="7" column="0">
+     <spacer name="verticalSpacer">
+      <property name="orientation">
+       <enum>Qt::Vertical</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>20</width>
+        <height>40</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>accepted()</signal>
+   <receiver>QGCMapRCToParamDialog</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>248</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>157</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>rejected()</signal>
+   <receiver>QGCMapRCToParamDialog</receiver>
+   <slot>reject()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>316</x>
+     <y>260</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>286</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

src/ui/QGCParamTreeWidget.cpp

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @author Thomas Gubler <thomasgubler@gmail.com>
+
+#include "QGCParamTreeWidget.h"
+#include <QMenu>
+#include <QTreeWidgetItem>
+#include <QDebug>
+
+QGCParamTreeWidget::QGCParamTreeWidget(QWidget *parent) :
+    QTreeWidget(parent)
+{
+    setContextMenuPolicy(Qt::CustomContextMenu);
+
+    QObject::connect(this, &QGCParamTreeWidget::customContextMenuRequested,
+                         this, &QGCParamTreeWidget::showContextMenu);
+    qDebug() << "create QGCParamTreeWidget";
+
+}
+
+QGCParamTreeWidget::~QGCParamTreeWidget()
+{
+
+}
+
+void QGCParamTreeWidget::showContextMenu(const QPoint &pos)
+{
+    QMenu menu;
+    QTreeWidgetItem* item = itemAt(pos);
+
+    // Only show context menu for parameter items and not for group items
+    // (show for TEST_P but not for TEST)
+    // If a context menu is needed later for the groups then move this 'if'
+    // to below where the actions are created and filter out certain actions
+    // for the outer nodes
+    if (indexOfTopLevelItem(item) > -1 ||
+            indexOfTopLevelItem(item->parent()) > -1) {
+        return;
+    }
+
+
+    QString param_id = item->data(0, Qt::DisplayRole).toString();
+    QAction* act = new QAction(tr("Map Parameter to RC"), this);
+    act->setProperty("param_id", param_id);
+    connect(act, &QAction::triggered, this,
+            &QGCParamTreeWidget::contextMenuAction);
+    menu.addAction(act);
+    menu.exec(mapToGlobal(pos));
+}
+
+void QGCParamTreeWidget::contextMenuAction() {
+    QString param_id = qobject_cast<QAction*>(
+            sender())->property("param_id").toString();
+    emit mapRCToParamRequest(param_id);
+}

src/ui/QGCParamTreeWidget.h

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @brief A treeview with context menus for parameters
+///     @author Thomas Gubler <thomasgubler@gmail.com>
+
+#ifndef QGCPARAMTREEWIDGET_H
+#define QGCPARAMTREEWIDGET_H
+
+#include <QTreeWidget>
+
+/// Implements individual context menus for the QTreeWidgetItems
+class QGCParamTreeWidget : public QTreeWidget
+{
+    Q_OBJECT
+public:
+    QGCParamTreeWidget(QWidget *parent = 0);
+    ~QGCParamTreeWidget();
+
+signals:
+    void mapRCToParamRequest(QString param_id);
+
+public slots:
+    void showContextMenu(const QPoint &pos);
+    void contextMenuAction();
+
+};
+
+#endif // QGCPARAMTREEWIDGET_H

src/ui/QGCParamWidget.cc

@@ -36,12 +36,15 @@ This file is part of the QGROUNDCONTROL project
 #include <QPushButton>
 #include <QSettings>
 #include <QTime>
+#include <QTimer>
+#include <QEventLoop>
 
 #include "MainWindow.h"
 #include "QGC.h"
 #include "QGCParamWidget.h"
 #include "UASInterface.h"
 #include "UASParameterCommsMgr.h"
+#include "QGCMapRCToParamDialog.h"
 
 /**
  * @param uas MAV to set the parameters on
@@ -51,7 +54,7 @@ QGCParamWidget::QGCParamWidget(QWidget *parent) :
     QGCBaseParamWidget(parent),
     componentItems(new QMap<int, QTreeWidgetItem*>()),
     statusLabel(new QLabel(this)),
-    tree(new QTreeWidget(this)),
+    tree(new QGCParamTreeWidget(this)),
     _fullParamListLoaded(false)
 {
 
@@ -64,6 +67,8 @@ void QGCParamWidget::disconnectViewSignalsAndSlots()
 {
     disconnect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)),
             this, SLOT(parameterItemChanged(QTreeWidgetItem*,int)));
+    disconnect(tree, &QGCParamTreeWidget::mapRCToParamRequest, this,
+            &QGCParamWidget::configureRCToParam);
 }
 
 
@@ -72,6 +77,8 @@ void QGCParamWidget::connectViewSignalsAndSlots()
     // Listen for edits to the tree UI
     connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)),
             this, SLOT(parameterItemChanged(QTreeWidgetItem*,int)));
+    connect(tree, &QGCParamTreeWidget::mapRCToParamRequest, this,
+            &QGCParamWidget::configureRCToParam);
 }
 
 
@@ -119,6 +126,13 @@ void QGCParamWidget::addActionButtonsToLayout(QGridLayout* layout)
             paramMgr, SLOT(copyPersistentParamsToVolatile()));
     layout->addWidget(readButton, 3, 2);
 
+    QPushButton* unsetRCToParamMapButton = new QPushButton(tr("Clear Rc to Param"));
+    unsetRCToParamMapButton->setToolTip(tr("Remove any bindings between RC channels and parameters."));
+    unsetRCToParamMapButton->setWhatsThis(tr("Remove any bindings between RC channels and parameters."));
+    connect(unsetRCToParamMapButton, &QPushButton::clicked,
+            mav, &UASInterface::unsetRCToParameterMap);
+    layout->addWidget(unsetRCToParamMapButton, 4, 1);
+
 }
 
 void QGCParamWidget::layoutWidget()
@@ -241,9 +255,9 @@ void QGCParamWidget::handleOnboardParameterListUpToDate()
     if (_fullParamListLoaded) {
         return;
     }
-    
+
     _fullParamListLoaded = true;
-    
+
     //turn off updates while we refresh the entire list
     tree->setUpdatesEnabled(false);
 
@@ -355,7 +369,7 @@ void QGCParamWidget::insertParamAlphabetical(int indexLowerBound, int indexUpper
 QTreeWidgetItem* QGCParamWidget::updateParameterDisplay(int compId, QString parameterName, QVariant value)
 {
     //qDebug() << "QGCParamWidget::updateParameterDisplay" << parameterName;
-    
+
     // Filter the parameters according to the filter list
     if (_filterList.count() != 0) {
         bool filterFound = false;
@@ -366,7 +380,7 @@ QTreeWidgetItem* QGCParamWidget::updateParameterDisplay(int compId, QString para
             }
             if (paramFilter == parameterName) {
                 filterFound = true;
-                break;            
+                break;
             }
         }
         if (!filterFound) {
@@ -509,7 +523,6 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* paramItem, int column
     }
 }
 
-
 void QGCParamWidget::setParameterStatusMsg(const QString& msg)
 {
     statusLabel->setText(msg);
@@ -544,3 +557,9 @@ void QGCParamWidget::handleParamStatusMsgUpdate(QString msg, int level)
     statusLabel->setPalette(pal);
     statusLabel->setText(msg);
 }
+
+void QGCParamWidget::configureRCToParam(QString param_id) {
+    QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(param_id,
+            mav, this);
+    d->exec();
+}

src/ui/QGCParamWidget.h

@@ -32,10 +32,10 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QWidget>
 #include <QTreeWidget>
-#include <QTreeWidgetItem>
 #include <QMap>
 #include <QLabel>
 #include <QTimer>
+#include "QGCParamTreeWidget.h"
 
 #include "QGCBaseParamWidget.h"
 
@@ -52,7 +52,7 @@ class QGCParamWidget : public QGCBaseParamWidget
     Q_OBJECT
 public:
     QGCParamWidget(QWidget *parent = 0);
-    
+
     /// @brief Sets the list of parameters which should be shown by this editor. Parameter names can be
     ///         wildcarded at the end such as this: "RC*". Which will filter to all parameters which begin
     ///         with "RC". The wildcard (*) can only be at the end of the string.
@@ -75,10 +75,6 @@ protected:
 
     virtual void addActionButtonsToLayout(QGridLayout* layout);
 
-
-signals:
-
-
 public slots:
     virtual void handleOnboardParamUpdate(int component,const QString& parameterName, QVariant value);
     virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
@@ -97,14 +93,18 @@ public slots:
     /** @brief Update when user changes parameters */
     void parameterItemChanged(QTreeWidgetItem* prev, int column);
 
+    /** Promt configuration for param map config from user */
+    void configureRCToParam(QString param_id);
+
+
 
 protected:
     QMap<int, QTreeWidgetItem*>* componentItems; ///< The tree of component items, stored by component ID
     QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups to organize component items
     QLabel* statusLabel; ///< User-facing parameter status label
-    QTreeWidget* tree;   ///< The parameter tree
+    QGCParamTreeWidget* tree;   ///< The parameter tree
     QStringList _filterList;
-    
+
 private:
     bool _fullParamListLoaded;
 };