Merge remote-tracking branch 'origin/master' into hil_flightgear

files/px4/parameter_tooltips/tooltips.txt

+^ Name            ^ Min    ^ Max    ^ Default  ^ Multiplier  ^ Enabled ^  Comment ^
+| BAT_V_EMPTY     | 0.9    | 100.0  | 3.2      | 1           | 1       | Voltage of an empty battery cell  |
+| BAT_V_FULL      | 1.0    | 200.0  | 4.05     | 1           | 1       | Voltage of a full battery cell    |
+| BAT_N_CELLS     | 1      | 100    | 3        | 1           | 1       | Number of SERIAL battery cells. Typically this ranges from 2S to 6S in small-scale UAVs  |
+| BAT_V_SCALING   | 0.001  | 1.0    | 0.00838  | 1           | 1       | Conversion from ADC ticks to battery voltage. Depends on the connected board, calibrate with a multimeter.  |
+| MC_ATTRATE_P    | 0.0    | 20.0   | 0.20     | 1           | 1       | Multirotor attitude rate control P gain. This gain controls how much of the motor thrust should be used to control angular velocity. A larger number will increase the control response, but will make the system also more twitchy. |
+| FW_ROLLRATE_P    | 0.0    | 20.0   | 0.30     | 1           | 1       | Fixed wing roll rate control P gain. This gain controls how strong the ailerons or rudder should be actuated in order to achieve a certain roll rate. A larger number will increase the control response, but will make the system also more twitchy. |
\ No newline at end of file

files/px4/quadrotor/widgets/px4_calibration.qgw

-[PX4%20Calibration%20Tool]
-QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot (only in standby)
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=REBOOT
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=246
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=1
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=1
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=1
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\4\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_BUTTONTEXT=GYRO
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM1=1
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\size=4

files/px4/hexarotor/widgets/px4_calibration.qgw → files/px4/widgets/px4_calibration.qgw

@@ -12,7 +12,7 @@ QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
 QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Magnetometer calibration
 QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG
 QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241
 QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false

files/px4/widgets/px4_fw_attitude_pid_params.qgw

+[PX4%20Fixed%20Wing%20Attitude%20Control]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Roll Rate P Gain
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=FW_ROLLRATE_P
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=2
+QGC_TOOL_WIDGET_ITEMS\size=1

files/px4/widgets/px4_fw_position_pid_params.qgw

+[PX4%20Fixed%20Wing%20Position%20Control]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=FW_HEADING_P
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=2
+QGC_TOOL_WIDGET_ITEMS\size=1

files/px4/widgets/px4_mc_attitude_pid_params.qgw

+[PX4%20Multirotor%20Attitude%20Control]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Attitude P Gain
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=MC_ATT_P
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1.5
+QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Attitude I Gain
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=MC_ATT_I
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Attitude D Gain
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=MC_ATT_D
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Attitude Anti-Windup
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=MC_ATT_AWU
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\5\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_DESCRIPTION=Attitude Output Limit
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_PARAMID=MC_ATT_LIM
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MAX=3
+QGC_TOOL_WIDGET_ITEMS\6\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_DESCRIPTION=Heading / Yaw P Gain
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_PARAMID=MC_YAWPOS_P
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MAX=1.2
+QGC_TOOL_WIDGET_ITEMS\7\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_DESCRIPTION=Heading / Yaw D Gain
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_PARAMID=MC_YAWPOS_D
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\8\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_DESCRIPTION=Roll / Pitch Rate P Gain
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_PARAMID=MC_ATTRATE_P
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_MAX=1.5
+QGC_TOOL_WIDGET_ITEMS\9\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_DESCRIPTION=Roll / Pitch Rate D Gain
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_PARAMID=MC_ATTRATE_D
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_MAX=0.3
+QGC_TOOL_WIDGET_ITEMS\10\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_DESCRIPTION=Yaw Rate P Gain
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_PARAMID=MC_YAWRATE_P
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DISPLAY_INFO=false
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\size=10

src/uas/QGCUASParamManager.h

@@ -42,6 +42,7 @@ public:
     virtual double getParamMin(const QString& param) = 0;
     virtual double getParamMax(const QString& param) = 0;
     virtual double getParamDefault(const QString& param) = 0;
+    virtual QString getParamInfo(const QString& param) = 0;
 
     /** @brief Request an update for the parameter list */
     void requestParameterListUpdate(int component = 0);

src/uas/UAS.h

@@ -478,6 +478,9 @@ public:
         case MAV_AUTOPILOT_FP:
             return "FP";
             break;
+        case MAV_AUTOPILOT_PX4:
+            return "PX4";
+            break;
         default:
             return "";
             break;

src/ui/MainWindow.cc

@@ -565,11 +565,11 @@ void MainWindow::buildCommonWidgets()
         addCentralWidget(hudWidget, tr("Head Up Display"));
     }
 
-//    if (!configWidget)
-//    {
-//        configWidget = new QGCVehicleConfig(this);
-//        addCentralWidget(configWidget, tr("Vehicle Configuration"));
-//    }
+    if (!configWidget)
+    {
+        configWidget = new QGCVehicleConfig(this);
+        addCentralWidget(configWidget, tr("Vehicle Configuration"));
+    }
 
     if (!dataplotWidget)
     {
@@ -745,10 +745,14 @@ void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
 
 void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
 {
-    QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/";
+    QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/";
+    QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/";
 
     QDir widgets(defaultsDir);
     QStringList files = widgets.entryList();
+    QDir platformWidgets(platformDir);
+    files.append(platformWidgets.entryList());
+
     if (files.count() == 0)
     {
         qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";

src/ui/QGCParamWidget.cc

@@ -165,11 +165,29 @@ void QGCParamWidget::loadSettings()
 
 void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QString& airframe)
 {
+    Q_UNUSED(airframe);
+
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+    qDebug() << "ATTEMPTING TO LOAD CSV";
+
     QDir appDir = QApplication::applicationDirPath();
     appDir.cd("files");
-    QString fileName = QString("%1/%2/%3/parameter_tooltips/tooltips.txt").arg(appDir.canonicalPath()).arg(autopilot.toLower()).arg(airframe.toLower());
+    QString fileName = QString("%1/%2/parameter_tooltips/tooltips.txt").arg(appDir.canonicalPath()).arg(autopilot.toLower());
     QFile paramMetaFile(fileName);
 
+    qDebug() << "AUTOPILOT:" << autopilot;
+    qDebug() << "FILENAME: " << fileName;
+
     // Load CSV data
     if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text))
     {
@@ -189,7 +207,8 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin
     QString header = in.readLine();
 
     // Ignore top-level comment lines
-    while (header.startsWith('#') || header.startsWith('/') || header.startsWith('='))
+    while (header.startsWith('#') || header.startsWith('/')
+           || header.startsWith('=') || header.startsWith('^'))
     {
         header = in.readLine();
     }
@@ -266,23 +285,24 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin
         if (parts.count() > 1)
         {
             // min
-            paramMin.insert(parts.at(0), parts.at(1).toDouble());
+            paramMin.insert(parts.at(0).trimmed(), parts.at(1).toDouble());
         }
         if (parts.count() > 2)
         {
             // max
-            paramMax.insert(parts.at(0), parts.at(2).toDouble());
+            paramMax.insert(parts.at(0).trimmed(), parts.at(2).toDouble());
         }
         if (parts.count() > 3)
         {
             // default
-            paramDefault.insert(parts.at(0), parts.at(3).toDouble());
+            paramDefault.insert(parts.at(0).trimmed(), parts.at(3).toDouble());
         }
         // IGNORING 4 and 5 for now
         if (parts.count() > 6)
         {
             // tooltip
-            paramToolTips.insert(parts.at(0), parts.at(6).trimmed());
+            paramToolTips.insert(parts.at(0).trimmed(), parts.at(6).trimmed());
+            qDebug() << "PARAM META:" << parts.at(0).trimmed();
         }
     }
 }

src/ui/QGCParamWidget.h

@@ -57,6 +57,7 @@ public:
     double getParamMin(const QString& param) { return paramMin.value(param, 0.0f); }
     double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); }
     double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); }
+    QString getParamInfo(const QString& param) { return paramToolTips.value(param, ""); }
 
 signals:
     /** @brief A parameter was changed in the widget, NOT onboard */

src/ui/QGCRemoteControlView.cc

@@ -55,13 +55,13 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     this->setVisible(false);
     //setVisible(false);
 
-    calibrate = new QPushButton(tr("Calibrate"), this);
-    QHBoxLayout *calibrateButtonLayout = new QHBoxLayout();
-    calibrateButtonLayout->addWidget(calibrate, 0, Qt::AlignHCenter);
-    layout->addItem(calibrateButtonLayout, 3, 0, 1, 2);
+//    calibrate = new QPushButton(tr("Calibrate"), this);
+//    QHBoxLayout *calibrateButtonLayout = new QHBoxLayout();
+//    calibrateButtonLayout->addWidget(calibrate, 0, Qt::AlignHCenter);
+//    layout->addItem(calibrateButtonLayout, 3, 0, 1, 2);
 
-    calibrationWindow = new RadioCalibrationWindow(this);
-    connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show()));
+//    calibrationWindow = new RadioCalibrationWindow(this);
+//    connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show()));
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(setUASId(int)));
 
@@ -91,8 +91,8 @@ void QGCRemoteControlView::setUASId(int id)
             // The UAS exists, disconnect any existing connections
             disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
             disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
-            disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
-            disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
+            //disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
+            //disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
             disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
         }
     }
@@ -124,15 +124,15 @@ void QGCRemoteControlView::setUASId(int id)
     {
         // New UAS exists, connect
         nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
-        calibrationWindow->setUASId(id);
-        connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
+        //calibrationWindow->setUASId(id);
+        //connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
 
         connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
         connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float)));
         connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
 
         // only connect raw channels to calibration window widget
-        connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
+        //connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
     }
 }
 
@@ -178,7 +178,7 @@ void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized)
 void QGCRemoteControlView::appendChannelWidget(int channelId)
 {
     // Create new layout
-    QHBoxLayout* layout = new QHBoxLayout(this);
+    QHBoxLayout* layout = new QHBoxLayout();
     // Add content
     layout->addWidget(new QLabel(QString("Channel %1").arg(channelId + 1), this));
     QLabel* raw = new QLabel(this);

src/ui/QGCVehicleConfig.h

@@ -3,7 +3,9 @@
 
 #include <QWidget>
 #include <QTimer>
+#include <QList>
 
+#include "QGCToolWidget.h"
 #include "UASInterface.h"
 
 namespace Ui {
@@ -18,6 +20,13 @@ public:
     explicit QGCVehicleConfig(QWidget *parent = 0);
     ~QGCVehicleConfig();
 
+    enum RC_MODE {
+        RC_MODE_1 = 1,
+        RC_MODE_2 = 2,
+        RC_MODE_3 = 3,
+        RC_MODE_4 = 4
+    };
+
 public slots:
     /** Set the MAV currently being calibrated */
     void setActiveUAS(UASInterface* active);
@@ -28,6 +37,8 @@ public slots:
     void stopCalibrationRC();
     /** Start/stop the RC calibration routine */
     void toggleCalibrationRC(bool enabled);
+    /** Change the mode setting of the control inputs */
+    void setRCModeIndex(int newRcMode);
     /** Render the data updated */
     void updateView();
 
@@ -60,6 +71,7 @@ protected:
     int rcMax[chanMax];                 ///< Maximum values
     int rcTrim[chanMax];                ///< Zero-position (center for roll/pitch/yaw, 0 throttle for throttle)
     int rcMapping[chanMax];             ///< PWM to function mappings
+    float rcScaling[chanMax];           ///< Scaling of channel input to control commands
     bool rcRev[chanMax];                ///< Channel reverse
     int rcValue[chanMax];               ///< Last values
     float rcRoll;                       ///< PPM input channel used as roll control input
@@ -73,6 +85,8 @@ protected:
     bool rcCalChanged;                  ///< Set if the calibration changes (and needs to be written)
     bool changed;                       ///< Set if any of the input data changed
     QTimer updateTimer;                 ///< Controls update intervals
+    enum RC_MODE rc_mode;               ///< Mode of the remote control, according to usual convention
+    QList<QGCToolWidget*> toolWidgets;  ///< Configurable widgets
     
 private:
     Ui::QGCVehicleConfig *ui;

src/ui/RadioCalibration/RadioCalibrationWindow.h

@@ -50,8 +50,6 @@ This file is part of the QGROUNDCONTROL project
 #include "SwitchCalibrator.h"
 #include "CurveCalibrator.h"
 
-#include "../../../mavlink/include/mavlink/v1.0/common/mavlink.h"
-#include "../../../mavlink/include/mavlink/v1.0/mavlink_types.h"
 #include "UAS.h"
 #include "UASManager.h"
 #include "RadioCalibrationData.h"

src/ui/designer/QGCParamSlider.cc

@@ -25,6 +25,7 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
 
     scaledInt = ui->valueSlider->maximum() - ui->valueSlider->minimum();
 
+    ui->editInfoCheckBox->hide();
     ui->editDoneButton->hide();
     ui->editNameLabel->hide();
     ui->editRefreshParamsButton->hide();
@@ -51,13 +52,10 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
     connect(ui->editNameLabel, SIGNAL(textChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
     connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter()));
     connect(ui->editRefreshParamsButton, SIGNAL(clicked()), this, SLOT(refreshParamList()));
+    connect(ui->editInfoCheckBox, SIGNAL(clicked(bool)), this, SLOT(showInfo(bool)));
 
     // Set the current UAS if present
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-    setActiveUAS(UASManager::instance()->getActiveUAS());
-
-    // Get param value after settings have been loaded
-    QTimer::singleShot(300, this, SLOT(requestParameter()));
 }
 
 QGCParamSlider::~QGCParamSlider()
@@ -88,13 +86,14 @@ void QGCParamSlider::setActiveUAS(UASInterface* activeUas)
         connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(setParameterValue(int,int,int,int,QString,QVariant)), Qt::UniqueConnection);
         uas = activeUas;
         // Update current param value
-        if (parameterName == "")
+        requestParameter();
+        // Set param info
+        QString text = uas->getParamManager()->getParamInfo(parameterName);
+        ui->infoLabel->setText(text);
+        // Force-uncheck and hide label if no description is available
+        if (ui->editInfoCheckBox->isChecked())
         {
-            refreshParamList();
-        }
-        else
-        {
-            requestParameter();
+            showInfo((text.length() > 0));
         }
     }
 }
@@ -107,6 +106,12 @@ void QGCParamSlider::requestParameter()
     }
 }
 
+void QGCParamSlider::showInfo(bool enable)
+{
+    ui->editInfoCheckBox->setChecked(enable);
+    ui->infoLabel->setVisible(enable);
+}
+
 void QGCParamSlider::setParamValue(double value)
 {
     parameterValue = (float)value;
@@ -150,6 +155,11 @@ void QGCParamSlider::selectParameter(int paramIndex)
                 parameterMax = uas->getParamManager()->getParamMax(parameterName);
                 ui->editMaxSpinBox->setValue(parameterMax);
             }
+
+            // Description
+            QString text = uas->getParamManager()->getParamInfo(parameterName);
+            ui->infoLabel->setText(text);
+            showInfo(!(text.length() > 0));
         }
     }
 }
@@ -163,6 +173,7 @@ void QGCParamSlider::startEditMode()
     ui->writeButton->hide();
     ui->readButton->hide();
 
+    ui->editInfoCheckBox->show();
     ui->editDoneButton->show();
     ui->editNameLabel->show();
     ui->editRefreshParamsButton->show();
@@ -190,6 +201,7 @@ void QGCParamSlider::endEditMode()
     parameterMin = ui->editMinSpinBox->value();
     parameterMax = ui->editMaxSpinBox->value();
 
+    ui->editInfoCheckBox->hide();
     ui->editDoneButton->hide();
     ui->editNameLabel->hide();
     ui->editRefreshParamsButton->hide();
@@ -370,6 +382,7 @@ void QGCParamSlider::writeSettings(QSettings& settings)
     settings.setValue("QGC_PARAM_SLIDER_COMPONENTID", component);
     settings.setValue("QGC_PARAM_SLIDER_MIN", ui->editMinSpinBox->value());
     settings.setValue("QGC_PARAM_SLIDER_MAX", ui->editMaxSpinBox->value());
+    settings.setValue("QGC_PARAM_SLIDER_DISPLAY_INFO", ui->editInfoCheckBox->isChecked());
     settings.sync();
 }
 
@@ -385,6 +398,12 @@ void QGCParamSlider::readSettings(const QSettings& settings)
     ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()), settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt());
     ui->editMinSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MIN").toFloat());
     ui->editMaxSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MAX").toFloat());
+    showInfo(settings.value("QGC_PARAM_SLIDER_DISPLAY_INFO", true).toBool());
     ui->editSelectParamComboBox->setEnabled(true);
     ui->editSelectComponentComboBox->setEnabled(true);
+
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+
+    // Get param value after settings have been loaded
+    requestParameter();
 }

src/ui/designer/QGCParamSlider.h

@@ -39,6 +39,8 @@ public slots:
     void setParamValue(double value);
     /** @brief Set an integer parameter value */
     void setParamValue(int value);
+    /** @brief Show descriptive text next to slider */
+    void showInfo(bool enable);
 
 protected slots:
     /** @brief Request the parameter of this widget from the MAV */

src/ui/designer/QGCParamSlider.ui

@@ -7,13 +7,13 @@
     <x>0</x>
     <y>0</y>
     <width>789</width>
-    <height>158</height>
+    <height>244</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="100,0,0,0,0,0,0,0,0">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="10,0,0,0,0,0,0,0,0,0">
    <property name="leftMargin">
     <number>6</number>
    </property>
@@ -32,72 +32,17 @@
    <property name="verticalSpacing">
     <number>12</number>
    </property>
-   <item row="1" column="1" colspan="5">
-    <widget class="QLineEdit" name="editNameLabel">
-     <property name="text">
-      <string>&lt;Parameter Name / Label&gt;</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="1">
-    <widget class="QLabel" name="nameLabel">
-     <property name="minimumSize">
-      <size>
-       <width>60</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>Name</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="5" colspan="2">
-    <widget class="QSlider" name="valueSlider">
-     <property name="minimumSize">
-      <size>
-       <width>60</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>250</width>
-       <height>16777215</height>
-      </size>
+   <item row="2" column="5">
+    <widget class="QSpinBox" name="intValueSpinBox">
+     <property name="minimum">
+      <number>-999999999</number>
      </property>
      <property name="maximum">
-      <number>1000000</number>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="1" colspan="6">
-    <widget class="QLabel" name="editStatusLabel">
-     <property name="text">
-      <string>Please click first on refresh to update selection menus..</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="1" colspan="3">
-    <widget class="QComboBox" name="editSelectComponentComboBox">
-     <property name="enabled">
-      <bool>false</bool>
-     </property>
-     <property name="toolTip">
-      <string>Select component</string>
-     </property>
-     <property name="statusTip">
-      <string>Select component</string>
+      <number>999999999</number>
      </property>
     </widget>
    </item>
-   <item row="3" column="4" colspan="3">
+   <item row="3" column="5" colspan="3">
     <widget class="QComboBox" name="editSelectParamComboBox">
      <property name="enabled">
       <bool>false</bool>
@@ -110,44 +55,27 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="8">
-    <widget class="QPushButton" name="readButton">
+   <item row="2" column="2">
+    <widget class="QLabel" name="nameLabel">
      <property name="minimumSize">
       <size>
-       <width>0</width>
+       <width>60</width>
        <height>0</height>
       </size>
      </property>
-     <property name="toolTip">
-      <string>Read the current parameter value on the system</string>
-     </property>
-     <property name="statusTip">
-      <string>Read the current parameter value on the system</string>
-     </property>
      <property name="text">
-      <string>R</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="8">
-    <widget class="QPushButton" name="editRefreshParamsButton">
-     <property name="enabled">
-      <bool>true</bool>
+      <string>Name</string>
      </property>
-     <property name="text">
-      <string>Refresh</string>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
      </property>
     </widget>
    </item>
-   <item row="5" column="8">
-    <widget class="QPushButton" name="editDoneButton">
-     <property name="text">
-      <string>Done</string>
+   <item row="1" column="7">
+    <widget class="QDoubleSpinBox" name="editMinSpinBox">
+     <property name="prefix">
+      <string>MIN: </string>
      </property>
-    </widget>
-   </item>
-   <item row="2" column="2">
-    <widget class="QDoubleSpinBox" name="doubleValueSpinBox">
      <property name="minimum">
       <double>-999999999.000000000000000</double>
      </property>
@@ -156,6 +84,13 @@
      </property>
     </widget>
    </item>
+   <item row="1" column="2" colspan="5">
+    <widget class="QLineEdit" name="editNameLabel">
+     <property name="text">
+      <string>&lt;Parameter Name / Label&gt;</string>
+     </property>
+    </widget>
+   </item>
    <item row="2" column="0">
     <spacer name="horizontalSpacer">
      <property name="orientation">
@@ -169,7 +104,7 @@
      </property>
     </spacer>
    </item>
-   <item row="2" column="7">
+   <item row="2" column="8">
     <widget class="QPushButton" name="writeButton">
      <property name="minimumSize">
       <size>
@@ -194,8 +129,8 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="0" colspan="9">
-    <widget class="Line" name="editLine1">
+   <item row="7" column="0" colspan="10">
+    <widget class="Line" name="editLine2">
      <property name="minimumSize">
       <size>
        <width>0</width>
@@ -207,33 +142,78 @@
      </property>
     </widget>
    </item>
-   <item row="6" column="0" colspan="9">
-    <widget class="Line" name="editLine2">
+   <item row="2" column="6" colspan="2">
+    <widget class="QSlider" name="valueSlider">
      <property name="minimumSize">
       <size>
-       <width>0</width>
+       <width>60</width>
        <height>0</height>
       </size>
      </property>
+     <property name="maximumSize">
+      <size>
+       <width>250</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="maximum">
+      <number>1000000</number>
+     </property>
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
     </widget>
    </item>
-   <item row="1" column="6">
-    <widget class="QDoubleSpinBox" name="editMinSpinBox">
-     <property name="prefix">
-      <string>MIN: </string>
+   <item row="3" column="8">
+    <widget class="QCheckBox" name="editInfoCheckBox">
+     <property name="text">
+      <string>Show Info</string>
      </property>
-     <property name="minimum">
-      <double>-999999999.000000000000000</double>
+     <property name="checked">
+      <bool>true</bool>
      </property>
-     <property name="maximum">
-      <double>999999999.000000000000000</double>
+    </widget>
+   </item>
+   <item row="3" column="2" colspan="3">
+    <widget class="QComboBox" name="editSelectComponentComboBox">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="toolTip">
+      <string>Select component</string>
+     </property>
+     <property name="statusTip">
+      <string>Select component</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="7" colspan="2">
+   <item row="2" column="9">
+    <widget class="QPushButton" name="readButton">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="toolTip">
+      <string>Read the current parameter value on the system</string>
+     </property>
+     <property name="statusTip">
+      <string>Read the current parameter value on the system</string>
+     </property>
+     <property name="text">
+      <string>R</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="2" colspan="6">
+    <widget class="QLabel" name="editStatusLabel">
+     <property name="text">
+      <string>Please click first on refresh to update selection menus..</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="8" colspan="2">
     <widget class="QDoubleSpinBox" name="editMaxSpinBox">
      <property name="prefix">
       <string>MAX: </string>
@@ -246,16 +226,62 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="4">
-    <widget class="QSpinBox" name="intValueSpinBox">
+   <item row="2" column="3">
+    <widget class="QDoubleSpinBox" name="doubleValueSpinBox">
      <property name="minimum">
-      <number>-999999999</number>
+      <double>-999999999.000000000000000</double>
      </property>
      <property name="maximum">
-      <number>999999999</number>
+      <double>999999999.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1" rowspan="6">
+    <widget class="QTextBrowser" name="infoLabel"/>
+   </item>
+   <item row="0" column="0" colspan="10">
+    <widget class="Line" name="editLine1">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
      </property>
     </widget>
    </item>
+   <item row="3" column="9">
+    <widget class="QPushButton" name="editRefreshParamsButton">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="text">
+      <string>Refresh</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="9">
+    <widget class="QPushButton" name="editDoneButton">
+     <property name="text">
+      <string>Done</string>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="2" colspan="8">
+    <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>
  <resources/>