Merged

qgroundcontrol.pro

@@ -18,8 +18,8 @@ TARGET = qgroundcontrol
 BASEDIR = .
 BUILDDIR = build
 LANGUAGE = C++
-CONFIG += debug_and_release
-    #console
+CONFIG += debug_and_release \
+    console
 OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
@@ -230,11 +230,23 @@ SOURCES += src/main.cc \
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library
-win32:exists(C:\OPAL-RT\RT-LAB7.2.4\Common\bin) {
+win32:exists(src/lib/opalrt/OpalApi.h) { 
+    message("Building support for Opal-RT")
     LIBS += -LC:\OPAL-RT\RT-LAB7.2.4\Common\bin \
         -lOpalApi
     INCLUDEPATH += src/lib/opalrt
-    SOURCES += src/comm/OpalLink.cc
-    HEADERS += src/comm/OpalLink.h
+    HEADERS += src/comm/OpalRT.h \
+        src/comm/OpalLink.h \
+        src/comm/Parameter.h \
+        src/comm/QGCParamID.h \
+        src/comm/ParameterList.h \
+        src/ui/OpalLinkConfigurationWindow.h
+    SOURCES += src/comm/OpalRT.cc \
+        src/comm/OpalLink.cc \
+        src/comm/Parameter.cc \
+        src/comm/QGCParamID.cc \
+        src/comm/ParameterList.cc \
+        src/ui/OpalLinkConfigurationWindow.cc
+    FORMS += src/ui/OpalLinkSettings.ui
     DEFINES += OPAL_RT
 }

settings/ParameterList.xml

+<ParameterList version="0.1">
+
+  <!-- Parameters in the top level block -->
+  <Block name="TopLevel">
+    <Parameter>
+    
+    </Parameter>
+  </Block>
+
+  <!--Parameters related to the navigation block -->
+  <Block name="Navigation">
+    <Parameter
+      SimulinkPath="avionics_src/sm_avionics/Navigation_Filter/NAV_FILT_INIT/"
+      SimulinkParameterName="Value"
+      QGCParamID="NAV_FILT_INIT"
+       />
+  </Block>
+
+  <!--Parameters related to the controller block -->
+  <Block name="Controller">
+
+  </Block>
+
+  <!-- Paremters for the Pilot Input/Raw RC block -->
+  <Block name="ServoInputs">
+
+  </Block>
+
+  <!-- Parameters for the servo output block -->
+  <Block name="ServoOutputs">
+
+    <!-- Settings for Aileron Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
+       SimulinkParameterName="Low"
+       QGCParamID="AIL_LOW_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
+       SimulinkParameterName="Center"
+       QGCParamID="AIL_CENTER_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
+       SimulinkParameterName="High"
+       QGCParamID="AIL_HIGH_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
+       SimulinkParameterName="Reverse"
+       QGCParamID="AIL_REV_OUT"
+       />
+
+    <!-- Settings for Elevator Servo -->
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
+       SimulinkParameterName="Low"
+       QGCParamID="ELE_LOW_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
+       SimulinkParameterName="Center"
+       QGCParamID="ELE_CENTER_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
+       SimulinkParameterName="High"
+       QGCParamID="ELE_HIGH_OUT"
+       />
+    <Parameter
+       SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
+       SimulinkParameterName="Reverse"
+       QGCParamID="ELE_REV_OUT"
+       />
+  </Block>
+</ParameterList>

src/Core.cc

@@ -142,7 +142,6 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
     // Add OpalRT Link, but do not connect
     OpalLink* opalLink = new OpalLink();
     mainWindow->addLink(opalLink);
-#warning OPAL LINK NOW AUTO CONNECTING IN CORE.CC
 #endif
     // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");

src/comm/MAVLinkXMLParser.cc

@@ -204,31 +204,33 @@ bool MAVLinkXMLParser::generate()
                                             usedMessageNames->insert(messageName, QString::number(e.lineNumber()));
                                         }
 
-                                        QString channelType = "mavlink_channel_t";
-                                        QString messageType = "mavlink_message_t";
+                                        QString channelType("mavlink_channel_t");
+                                        QString messageType("mavlink_message_t");
 
                                         // Build up function call
-                                        QString commentContainer = "/**\n * @brief Send a %1 message\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n";
-                                        QString commentEntry = " * @param %1 %2\n";
+                                        QString commentContainer("/**\n * @brief Send a %1 message\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n");
+                                        QString commentEntry(" * @param %1 %2\n");
                                         QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId));
-                                        QString arrayDefines = "";
+                                        QString arrayDefines;
                                         QString cStructName = QString("mavlink_%1_t").arg(messageName);
-                                        QString cStruct = "typedef struct __%1 \n{\n%2\n} %1;";
-                                        QString cStructLines = "";
-                                        QString encode = "static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n";
+                                        QString cStruct("typedef struct __%1 \n{\n%2\n} %1;");
+                                        QString cStructLines;
+                                        QString encode("static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n");
 
-                                        QString decode = "static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n";
-                                        QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
-                                        QString compactSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
+                                        QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n");
+                                        QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n");
+                                        QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif");
                                         //QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
-                                        QString unpacking = "";
-                                        QString prepends = "";
-                                        QString packParameters = "";
-                                        QString packArguments = "system_id, component_id, msg";
-                                        QString packLines = "";
-                                        QString decodeLines = "";
-                                        QString sendArguments = "";
-                                        QString commentLines = "";
+                                        QString unpacking;
+                                        QString prepends;
+                                        QString packParameters;
+                                        QString packArguments("system_id, component_id, msg");
+                                        QString packLines;
+                                        QString decodeLines;
+                                        QString sendArguments;
+                                        QString commentLines;
+
+
 
                                         // Get the message fields
                                         QDomNode f = e.firstChild();
@@ -241,6 +243,9 @@ bool MAVLinkXMLParser::generate()
                                                 QString fieldName = e2.attribute("name", "");
                                                 QString fieldText = e2.text();
 
+                                                QString unpackingCode;
+                                                QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
+
                                                 // Send arguments are the same for integral types and arrays
                                                 sendArguments += ", " + fieldName;
 
@@ -255,7 +260,7 @@ bool MAVLinkXMLParser::generate()
                                                     // Add field to C structure
                                                     cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText);
                                                     // Add pack line to message_xx_pack function
-                                                    packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text());
+                                                    packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
                                                     // Add decode function for this type
                                                     decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                                                     arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
@@ -275,6 +280,29 @@ bool MAVLinkXMLParser::generate()
                                                     decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                                                     arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
                                                 }
+                                                // Expand array handling to all valid mavlink data types
+                                                else if(fieldType.contains('[') && fieldType.contains(']'))
+                                                {
+                                                    int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
+                                                    QString arrayType = fieldType.split("[").first();
+                                                    packParameters += QString(", const ") + arrayType + "* " + fieldName;
+                                                    packArguments += ", " + messageName + "->" + fieldName;
+
+                                                    // Add field to C structure
+                                                    cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
+                                                    // Add pack line to message_xx_pack function
+                                                    packLines += QString("\ti += put_array_by_index((int8_t*)%1, sizeof(%2)*%3, i, msg->payload); //%4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
+                                                    // Add decode function for this type
+                                                    decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
+                                                    arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
+
+                                                    unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, sizeof(%2)*%3);\n\treturn sizeof(%2)*%3;").arg(prepends, arrayType, QString::number(arrayLength));
+
+                                                    unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, arrayType, unpackingCode);
+//                                                    decodeLines += "";
+                                                    prepends += QString("+sizeof(%1)*%2").arg(arrayType, QString::number(arrayLength));
+
+                                                }
                                                 else
                                                     // Handle simple types like integers and floats
                                                 {
@@ -289,9 +317,9 @@ bool MAVLinkXMLParser::generate()
                                                     decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
                                                 }
                                                 commentLines += commentEntry.arg(fieldName, fieldText);
-                                                QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
+
                                                 //
-                                                QString unpackingCode;
+//                                                QString unpackingCode;
 
                                                 if (fieldType == "uint8_t" || fieldType == "int8_t")
                                                 {
@@ -322,6 +350,7 @@ bool MAVLinkXMLParser::generate()
                                                     unpackingCode = QString("\n\tstrcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
                                                 }
 
+
                                                 // Generate the message decoding function
                                                 // Array handling is different from simple types
                                                 if (fieldType.startsWith("array"))
@@ -338,6 +367,10 @@ bool MAVLinkXMLParser::generate()
                                                     QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
                                                     prepends += "+" + arrayLength;
                                                 }
+                                                else if(fieldType.contains('[') && fieldType.contains(']'))
+                                                {
+                                                    // prevent this case from being caught in the following else
+                                                }
                                                 else
                                                 {
                                                     unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode);

src/comm/OpalLink.cc

@@ -35,10 +35,12 @@ OpalLink::OpalLink() :
         heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
         m_heartbeatsEnabled(true),
         getSignalsTimer(new QTimer(this)),
-        getSignalsPeriod(1000),
+        getSignalsPeriod(10),
         receiveBuffer(new QQueue<QByteArray>()),
         systemID(1),
-        componentID(1)
+        componentID(1),
+        params(NULL),
+        opalInstID(101)
 {
     start(QThread::LowPriority);
 
@@ -67,29 +69,83 @@ qint64 OpalLink::bytesAvailable()
 
 void OpalLink::writeBytes(const char *bytes, qint64 length)
 {
-
+    /* decode the message */
+    mavlink_message_t msg;
+    mavlink_status_t status;        
+    int decodeSuccess = 0;
+    for (int i=0; (!(decodeSuccess=mavlink_parse_char(this->getId(), bytes[i], &msg, &status))&& i<length); ++i);    
+
+    /* perform the appropriate action */
+    if (decodeSuccess)
+    {
+        switch(msg.msgid)
+        {
+        case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
+            {
+                qDebug() << "OpalLink::writeBytes(): request params";
+
+                mavlink_message_t param;
+
+
+                OpalRT::ParameterList::const_iterator paramIter;
+                for (paramIter = params->begin(); paramIter != params->end(); ++paramIter)
+                {
+                    mavlink_msg_param_value_pack(systemID,
+                                                 (*paramIter).getComponentID(),
+                                                 &param,
+                                                 (*paramIter).getParamID().toInt8_t(),
+                                                 (static_cast<OpalRT::Parameter>(*paramIter)).getValue(),
+                                                 params->count(),
+                                                 params->indexOf(*paramIter));
+                    receiveMessage(param);
+                }
+
+
+            }
+        case MAVLINK_MSG_ID_PARAM_SET:
+            {
+
+//                qDebug() << "OpalLink::writeBytes(): Attempt to set a parameter";
+
+                mavlink_param_set_t param;
+                mavlink_msg_param_set_decode(&msg, &param);
+                OpalRT::QGCParamID paramName((char*)param.param_id);
+
+//                qDebug() << "OpalLink::writeBytes():paramName: " << paramName;
+
+                if ((*params).contains(param.target_component, paramName))
+                {
+                    OpalRT::Parameter p = (*params)(param.target_component, paramName);
+//                    qDebug() << __FILE__ << ":" << __LINE__ << ": "  << p;
+                    // Set the param value in Opal-RT
+                    p.setValue(param.param_value);
+
+                    // Get the param value from Opal-RT to make sure it was set properly
+                    mavlink_message_t paramMsg;
+                    mavlink_msg_param_value_pack(systemID,
+                                                 p.getComponentID(),
+                                                 &paramMsg,
+                                                 p.getParamID().toInt8_t(),
+                                                 p.getValue(),
+                                                 params->count(),
+                                                 params->indexOf(p));
+                    receiveMessage(paramMsg);
+                }
+            }
+            break;
+        default:
+            {
+                qDebug() << "OpalLink::writeBytes(): Unknown mavlink packet";
+            }
+        }
+    }
 }
 
 
 void OpalLink::readBytes()
 {
     receiveDataMutex.lock();
-    const qint64 maxLength = 2048;
-    char bytes[maxLength];
-    qDebug() << "OpalLink::readBytes(): Reading a message.  size of buffer: " << receiveBuffer->count();
-    QByteArray message = receiveBuffer->dequeue();
-    if (maxLength < message.size())
-    {
-        qDebug() << "OpalLink::readBytes:: Buffer Overflow";
-
-        memcpy(bytes, message.data(), maxLength);
-    }
-    else
-    {
-        memcpy(bytes, message.data(), message.size());
-    }
-
-    emit bytesReceived(this, message);
+    emit bytesReceived(this, receiveBuffer->dequeue());
     receiveDataMutex.unlock();
 
 }
@@ -104,7 +160,9 @@ void OpalLink::receiveMessage(mavlink_message_t message)
     // If link is connected
     if (isConnected())
     {
+        receiveDataMutex.lock();
         receiveBuffer->enqueue(QByteArray(buffer, len));
+        receiveDataMutex.unlock();
         readBytes();
     }
 
@@ -115,54 +173,120 @@ void OpalLink::heartbeat()
 
     if (m_heartbeatsEnabled)
     {
-        qDebug() << "OpalLink::heartbeat(): Generate a heartbeat";
         mavlink_message_t beat;
         mavlink_msg_heartbeat_pack(systemID, componentID,&beat, MAV_HELICOPTER, MAV_AUTOPILOT_GENERIC);
         receiveMessage(beat);
     }
 
 }
+void OpalLink::setSignals(double *values)
+{
+    unsigned short numSignals = 2;
+    unsigned short logicalId = 1;
+    unsigned short signalIndex[] = {0,1};
 
+    int returnValue;
+    returnValue =  OpalSetSignals( numSignals, logicalId, signalIndex, values);
+    if (returnValue != EOK)
+    {
+        OpalRT::OpalErrorMsg::displayLastErrorMsg();
+    }
+}
 void OpalLink::getSignals()
 {
-//    qDebug() <<  "OpalLink::getSignals(): Attempting to acquire signals";
-//
-//
-//    unsigned long  timeout = 0;
-//    unsigned short acqGroup = 0; //this is actually group 1 in the model
-//    unsigned short allocatedSignals = NUM_OUTPUT_SIGNALS;
-//    unsigned short *numSignals = new unsigned short(0);
-//    double *timestep = new double(0);
-//    double values[NUM_OUTPUT_SIGNALS] = {};
-//    unsigned short *lastValues = new unsigned short(false);
-//    unsigned short *decimation = new unsigned short(0);
-//
-//    int returnVal = OpalGetSignals(timeout, acqGroup, allocatedSignals, numSignals, timestep,
-//                                   values, lastValues, decimation);
-//
-//    if (returnVal == EOK )
-//    {
-//        qDebug() << "OpalLink::getSignals: Timestep=" << *timestep;// << ", Last? " << (bool)(*lastValues);
-//    }
-//    else if (returnVal == EAGAIN)
-//    {
-//        qDebug() << "OpalLink::getSignals: Data was not ready";
-//    }
-//    // if returnVal == EAGAIN => data just wasn't ready
-//    else if (returnVal != EAGAIN)
-//    {
-//        getSignalsTimer->stop();
-//        displayErrorMsg();
-//    }
-//    /* deallocate used memory */
-//
-//    delete timestep;
-//    delete lastValues;
-//    delete lastValues;
-//    delete decimation;
+    unsigned long  timeout = 0;
+    unsigned short acqGroup = 0; //this is actually group 1 in the model
+    unsigned short *numSignals = new unsigned short(0);
+    double *timestep = new double(0);
+    double values[OpalRT::NUM_OUTPUT_SIGNALS] = {};
+    unsigned short *lastValues = new unsigned short(false);
+    unsigned short *decimation = new unsigned short(0);
+
+    while (!(*lastValues))
+    {
+        int returnVal = OpalGetSignals(timeout, acqGroup, OpalRT::NUM_OUTPUT_SIGNALS, numSignals, timestep,
+                                       values, lastValues, decimation);
+
+        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);
+
+            /* send attitude info to qgroundcontrol */
+            mavlink_message_t attitude;
+            mavlink_msg_attitude_pack(systemID, componentID, &attitude,
+                                      (*timestep)*1000000,
+                                      values[OpalRT::ROLL],
+                                      values[OpalRT::PITCH],
+                                      values[OpalRT::YAW],
+                                      values[OpalRT::ROLL_SPEED],
+                                      values[OpalRT::PITCH_SPEED],
+                                      values[OpalRT::YAW_SPEED]
+                                      );
+            receiveMessage(attitude);
+
+            /* send bias info to qgroundcontrol */
+            mavlink_message_t bias;
+            mavlink_msg_nav_filter_bias_pack(systemID, componentID, &bias,
+                                             (*timestep)*1000000,
+                                             values[OpalRT::B_F_0],
+                                             values[OpalRT::B_F_1],
+                                             values[OpalRT::B_F_2],
+                                             values[OpalRT::B_W_0],
+                                             values[OpalRT::B_W_1],
+                                             values[OpalRT::B_W_2]
+                                             );
+            receiveMessage(bias);
+
+            /* send radio outputs */
+            mavlink_message_t rc;
+            mavlink_msg_rc_channels_pack(systemID, componentID, &rc,
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_1]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_2]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_3]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_4]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_5]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_6]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_7]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_8]),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_1]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_2]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_3]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_4]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_5]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_6]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_7]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_8]*255),
+                                             0 //rssi unused
+                                             );
+            receiveMessage(rc);
+        }        
+        else if (returnVal != EAGAIN) // if returnVal == EAGAIN => data just wasn't ready
+        {
+            getSignalsTimer->stop();
+            OpalRT::OpalErrorMsg::displayLastErrorMsg();
+        }
+    }
+
+    /* deallocate used memory */
+
+    delete numSignals;
+    delete timestep;
+    delete lastValues;
+    delete decimation;
 
 }
 
+
 /*
  *
   Administrative
@@ -170,7 +294,7 @@ void OpalLink::getSignals()
  */
 void OpalLink::run()
 {
-    qDebug() << "OpalLink::run():: Starting the thread";
+//    qDebug() << "OpalLink::run():: Starting the thread";
 }
 
 int OpalLink::getId()
@@ -189,11 +313,16 @@ void OpalLink::setName(QString name)
     emit nameChanged(this->name);
 }
 
-bool OpalLink::isConnected() {
-    //qDebug() << "OpalLink::isConnected:: connectState: " << connectState;
+bool OpalLink::isConnected() {    
     return connectState;
 }
 
+uint16_t OpalLink::duty2PulseMicros(double duty)
+{
+    /* duty cycle assumed to be of a signal at 70 Hz */
+    return static_cast<uint16_t>(duty/70*1000000);
+}
+
 
 
 
@@ -201,19 +330,24 @@ bool OpalLink::connect()
 {
     short modelState;
 
-    /// \todo allow configuration of instid in window
-//    if (OpalConnect(101, false, &modelState) == EOK)
-//    {
+    /// \todo allow configuration of instid in window    
+    if ((OpalConnect(opalInstID, false, &modelState) == EOK)
+        && (OpalGetSignalControl(0, true) == EOK)
+        && (OpalGetParameterControl(true) == EOK))
+    {
         connectState = true;
+        if (params)
+            delete params;
+        params = new OpalRT::ParameterList();
         emit connected();
         heartbeatTimer->start(1000/heartbeatRate);
         getSignalsTimer->start(getSignalsPeriod);
-//    }
-//    else
-//    {
-//        connectState = false;
-//        displayErrorMsg();
-//    }
+    }
+    else
+    {
+        connectState = false;
+        OpalRT::OpalErrorMsg::displayLastErrorMsg();
+    }
 
     emit connected(connectState);
     return connectState;
@@ -221,26 +355,16 @@ bool OpalLink::connect()
 
 bool OpalLink::disconnect()
 {
-    return false;
+    // OpalDisconnect returns void so its success or failure cannot be tested
+    OpalDisconnect();
+    heartbeatTimer->stop();
+    getSignalsTimer->stop();
+    connectState = false;
+    emit connected(connectState);
+    return true;
 }
 
-void OpalLink::displayErrorMsg()
-{
-    setLastErrorMsg();
-    QMessageBox msgBox;
-    msgBox.setIcon(QMessageBox::Critical);
-    msgBox.setText(lastErrorMsg);
-    msgBox.exec();
-}
 
-void OpalLink::setLastErrorMsg()
-{
-//    char buf[512];
-//    unsigned short len;
-//    OpalGetLastErrMsg(buf, sizeof(buf), &len);
-//    lastErrorMsg.clear();
-//    lastErrorMsg.append(buf);
-}
 
 
 /*

src/comm/OpalLink.h

@@ -32,11 +32,13 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QMutex>
 #include <QDebug>
-#include <QMessageBox>
+#include <QTextStreamManipulator>
 #include <QTimer>
 #include <QQueue>
 #include <QByteArray>
 #include <QObject>
+#include <stdlib.h>
+
 
 #include "LinkInterface.h"
 #include "LinkManager.h"
@@ -44,31 +46,18 @@ This file is part of the QGROUNDCONTROL project
 #include "mavlink.h"
 #include "mavlink_types.h"
 #include "configuration.h"
-
+#include "OpalRT.h"
+#include "ParameterList.h"
+#include "Parameter.h"
+#include "QGCParamID.h"
+#include "OpalApi.h"
 #include "errno.h"
-
-
-
-
-// FIXME
-//#include "OpalApi.h"
-
-
-
-
-
 #include "string.h"
 
-/*
-  Configuration info for the model
- */
-
-#define NUM_OUTPUT_SIGNALS 6
-
 /**
- * @brief Interface to OPAL-RT targets
+ * @brief Interface to OpalRT targets
  *
- * This is an interface to the Opal-RT hardware-in-the-loop (HIL) simulator.
+ * This is an interface to the OpalRT hardware-in-the-loop (HIL) simulator.
  * This class receives MAVLink packets as if it is a true link, but it
  * interprets the packets internally, and calls the appropriate api functions.
  *
@@ -100,34 +89,32 @@ public:
     qint64 getBitsSent();
     qint64 getBitsReceived();
 
-
     bool connect();
 
-
     bool disconnect();
 
-
     qint64 bytesAvailable();
 
     void run();
 
-public slots:
+    int getOpalInstID() {return static_cast<int>(opalInstID);}
 
+public slots:
 
     void writeBytes(const char *bytes, qint64 length);
 
-
     void readBytes();
 
     void heartbeat();
 
     void getSignals();
 
+    void setOpalInstID(int instID) {opalInstID = static_cast<unsigned short>(instID);}
+
 protected slots:
 
     void receiveMessage(mavlink_message_t message);
-
-
+    void setSignals(double *values);
 
 protected:
     QString name;
@@ -144,9 +131,6 @@ protected:
 
     QMutex statisticsMutex;
     QMutex receiveDataMutex;
-    QString lastErrorMsg;
-    void setLastErrorMsg();
-    void displayErrorMsg();
 
     void setName(QString name);
 
@@ -163,7 +147,12 @@ protected:
     const int systemID;
     const int componentID;
 
+    void getParameterList();
+    OpalRT::ParameterList *params;
+
+    unsigned short opalInstID;
 
+    uint16_t duty2PulseMicros(double duty);
 };
 
 #endif // OPALLINK_H

src/comm/OpalRT.cc

+#include "OpalRT.h"
+
+namespace OpalRT
+{
+    //    lastErrorMsg = QString();
+    void OpalErrorMsg::displayLastErrorMsg()
+    {
+        static QString lastErrorMsg;
+        setLastErrorMsg();
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText(lastErrorMsg);
+        msgBox.exec();
+    }
+
+    void OpalErrorMsg::setLastErrorMsg()
+    {
+        char* buf = new char[512];
+        unsigned short len;
+        static QString lastErrorMsg;
+        OpalGetLastErrMsg(buf, sizeof(buf), &len);
+        lastErrorMsg.clear();
+        lastErrorMsg.append(buf);
+        delete buf;
+    }
+}

src/comm/OpalRT.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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 Types used for Opal-RT interface configuration
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef OPALRT_H
+#define OPALRT_H
+
+#include <QString>
+#include <QMessageBox>
+
+#include "OpalApi.h"
+
+namespace OpalRT
+{
+    /**
+      Configuration info for the model
+     */
+
+    const unsigned short NUM_OUTPUT_SIGNALS=57;
+
+    /*  ------------------------------ Outputs ------------------------------
+    *
+    *      Port 1: Navigation state estimates
+    *      1       t   [s]     time elapsed since INS mode started
+    *      2-4     p^n [m]     navigation frame position (N,E,D)
+    *      5-7     v^n [m/s]   navigation frame velocity (N,E,D)
+    *      8-10    Euler angles [rad] (roll, pitch, yaw)
+    *     11-13    Angular rates
+    *     14-16    b_f [m/s^2] accelerometer biases
+    *     17-19    b_w [rad/s] gyro biases
+    *
+    *      Port 2: Navigation system status
+    *      1       mode    (0: initialization, 1: INS)
+    *      2       t_GPS   time elapsed since last valid GPS measurement
+    *      3       solution status (0: SOL_COMPUTED, 1: INSUFFICIENT_OBS)
+    *      4       position solution type ( 0: NONE, 34: NARROW_FLOAT,
+    *                                      49: WIDE_INT, 50: NARROW_INT)
+    *      5       # obs (number of visible satellites)
+    *
+    *      Port 3: Covariance matrix diagonal
+    *      1-15    diagonal elements of estimation error covariance matrix P
+    */
+    enum SignalPort
+    {
+        T_ELAPSED,
+        X_POS,
+        Y_POS,
+        Z_POS,
+        X_VEL,
+        Y_VEL,
+        Z_VEL,
+        ROLL,
+        PITCH,
+        YAW,
+        ROLL_SPEED,
+        PITCH_SPEED,
+        YAW_SPEED,
+        B_F_0,
+        B_F_1,
+        B_F_2,
+        B_W_0,
+        B_W_1,
+        B_W_2,
+        RAW_CHANNEL_1 = 39,
+        RAW_CHANNEL_2,
+        RAW_CHANNEL_3,
+        RAW_CHANNEL_4,
+        RAW_CHANNEL_5,
+        RAW_CHANNEL_6,
+        RAW_CHANNEL_7,
+        RAW_CHANNEL_8,
+        NORM_CHANNEL_1,
+        NORM_CHANNEL_2,
+        NORM_CHANNEL_3,
+        NORM_CHANNEL_4,
+        NORM_CHANNEL_5,
+        NORM_CHANNEL_6,
+        NORM_CHANNEL_7,
+        NORM_CHANNEL_8,
+        CONTROLLER_AILERON,
+        CONTROLLER_ELEVATOR
+    };       
+
+    /** Component IDs of the parameters.  Currently they are all 1 becuase there is no advantage
+       to dividing them between component ids.  However this syntax is used so that this can
+       easily be changed in the future.
+       */
+    enum SubsystemIds
+    {
+        NAV_ID = 1,
+        LOG_ID,
+        CONTROLLER_ID,
+        SERVO_OUTPUTS,
+        SERVO_INPUTS
+    };
+
+    class OpalErrorMsg
+    {
+        static QString lastErrorMsg;
+    public:
+        static void displayLastErrorMsg();
+        static void setLastErrorMsg();
+    };
+}
+#endif // OPALRT_H

src/comm/Parameter.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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 Implementation of class OpalRT::Parameter
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+#include "Parameter.h"
+using namespace OpalRT;
+
+//Parameter::Parameter(char *simulinkPath, char *simulinkName, uint8_t componentID,
+//                     QGCParamID paramID, unsigned short opalID)
+//                         : simulinkPath(new QString(simulinkPath)),
+//                         simulinkName(new QString(simulinkName)),
+//                         componentID(componentID),
+//                         paramID(new QGCParamID(paramID)),
+//                         opalID(opalID)
+//
+//{
+//}
+Parameter::Parameter(QString simulinkPath, QString simulinkName, uint8_t componentID,
+                     QGCParamID paramID, unsigned short opalID)
+                         : simulinkPath(new QString(simulinkPath)),
+                         simulinkName(new QString(simulinkName)),
+                         componentID(componentID),
+                         paramID(new QGCParamID(paramID)),
+                         opalID(opalID)
+
+{
+}
+Parameter::Parameter(const Parameter &other)
+    : componentID(other.componentID),
+    opalID(other.opalID)
+{
+    simulinkPath = new QString(*other.simulinkPath);
+    simulinkName = new QString(*other.simulinkName);
+    paramID = new QGCParamID(*other.paramID);
+}
+
+Parameter::~Parameter()
+{
+    delete simulinkPath;
+    delete simulinkName;
+    delete paramID;
+}
+
+bool Parameter::operator ==(const Parameter& other) const
+{
+    return
+            (*simulinkPath) == *(other.simulinkPath)
+            && *simulinkName == *(other.simulinkName)
+            && componentID == other.componentID
+            && *paramID == *(other.paramID)
+            && opalID == other.opalID;
+
+}
+
+float Parameter::getValue()
+{
+    unsigned short allocatedParams = 1;
+    unsigned short numParams;
+    unsigned short numValues = 1;
+    unsigned short returnedNumValues;
+    double value;
+
+    int returnVal = OpalGetParameters(allocatedParams, &numParams, &opalID,
+                                      numValues, &returnedNumValues, &value);
+
+    if (returnVal != EOK)
+    {
+        OpalRT::OpalErrorMsg::displayLastErrorMsg();
+        return FLT_MAX;
+    }
+
+    return static_cast<float>(value);
+}
+
+void Parameter::setValue(float val)
+{
+    unsigned short allocatedParams = 1;
+    unsigned short numParams;
+    unsigned short numValues = 1;
+    unsigned short returnedNumValues;
+    double value = static_cast<double>(val);
+
+    int returnVal = OpalSetParameters(allocatedParams, &numParams, &opalID,
+                                      numValues, &returnedNumValues, &value);
+    if (returnVal != EOK)
+    {
+        //qDebug() << __FILE__ << ":" << __LINE__ << ": Error numer: " << QString::number(returnVal);
+        OpalErrorMsg::displayLastErrorMsg();
+    }
+}
+
+Parameter::operator QString() const
+{
+    return *simulinkPath + *simulinkName + " " + QString::number(componentID)
+            + " " + *paramID + " " + QString::number(opalID);
+}

src/comm/Parameter.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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 Parameter Object used to intefrace with an OpalRT Simulink Parameter
+     \see OpalLink
+     \see OpalRT::ParameterList
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef PARAMETER_H
+#define PARAMETER_H
+
+#include <QString>
+#include <QDebug>
+
+#include "mavlink_types.h"
+#include "QGCParamID.h"
+#include "OpalApi.h"
+#include "OpalRT.h"
+#include <cfloat>
+
+namespace OpalRT
+{
+    class Parameter
+    {
+    public:
+//        Parameter(char *simulinkPath = "",
+//                  char *simulinkName = "",
+//                  uint8_t componentID = 0,
+//                  QGCParamID paramID = QGCParamID(),
+//                  unsigned short opalID = 0);
+        Parameter(QString simulinkPath = QString(),
+                  QString simulinkName = QString(),
+                  uint8_t componentID = 0,
+                  QGCParamID paramID = QGCParamID(),
+                  unsigned short opalID = 0);
+        Parameter(const Parameter& other);
+        ~Parameter();
+
+        const QGCParamID& getParamID() const {return *paramID;}
+        void setOpalID(unsigned short opalID) {this->opalID = opalID;}
+        const QString& getSimulinkPath() {return *simulinkPath;}
+        const QString& getSimulinkName() {return *simulinkName;}
+        uint8_t getComponentID() const {return componentID;}
+        float getValue();
+        void setValue(float value);
+
+        bool operator==(const Parameter& other) const;
+        operator QString() const;
+
+    protected:
+        QString *simulinkPath;
+        QString *simulinkName;
+        uint8_t componentID;
+        QGCParamID *paramID;
+        unsigned short opalID;
+    };
+}
+
+#endif // PARAMETER_H

src/comm/ParameterList.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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 Implementation of class OpalRT::ParameterList
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#include "ParameterList.h"
+using namespace OpalRT;
+
+ParameterList::ParameterList()
+    :params(new QMap<int, QMap<QGCParamID, Parameter> >),
+    paramList(new QList<QList<Parameter*> >())
+{
+
+    QDir settingsDir = QDir(qApp->applicationDirPath());
+    if (settingsDir.dirName() == "bin")
+        settingsDir.cdUp();
+    settingsDir.cd("settings");
+
+    QString filename(settingsDir.path() + "/ParameterList.xml");
+    if ((QFile::exists(filename)) && open(filename))
+    {
+        /* Populate the map with parameter names.  There is no elegant way of doing this so all
+       parameter paths and names must be known at compile time and defined here.
+       Note: This function is written in a way that calls a lot of copy constructors and is
+           therefore not particularly efficient.  However since it is only called once memory
+           and computation time are sacrificed for code clarity when adding and modifying
+           parameters.
+           When defining the path, the trailing slash is necessary
+       */
+        //    Parameter *p;
+        //    /* Component: Navigation Filter */
+        //    p = new Parameter("avionics_src/sm_ampro/NAV_FILT_INIT/",
+        //                            "Value",
+        //                            OpalRT::NAV_ID,
+        //                            QGCParamID("NAV_FILT_INIT"));
+        //    (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
+        //    delete p;
+        //
+        //    p = new Parameter("avionics_src/sm_ampro/Gain/",
+        //                            "Gain",
+        //                            OpalRT::NAV_ID,
+        //                            QGCParamID("TEST_OUTP_GAIN"));
+        //    (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
+        //    delete p;
+        //
+        //    /* Component: Log Facility */
+        //    p = new Parameter("avionics_src/sm_ampro/LOG_FILE_ON/",
+        //                            "Value",
+        //                            OpalRT::LOG_ID,
+        //                            QGCParamID("LOG_FILE_ON"));
+        //    (*params)[OpalRT::LOG_ID].insert(p->getParamID(), *p);
+        //    delete p;
+
+        /* Get a list of the available parameters from opal-rt */
+        QMap<QString, unsigned short> *opalParams = new QMap<QString, unsigned short>;
+        getParameterList(opalParams);
+
+        /* Iterate over the parameters we want to use in qgc and populate their ids */
+        QMap<int, QMap<QGCParamID, Parameter> >::iterator componentIter;
+        QMap<QGCParamID, Parameter>::iterator paramIter;
+        QString s;
+        for (componentIter = params->begin(); componentIter != params->end(); ++componentIter)
+        {
+            paramList->append(QList<Parameter*>());
+            for (paramIter = (*componentIter).begin(); paramIter != (*componentIter).end(); ++paramIter)
+            {
+                paramList->last().append(paramIter.operator ->());
+                s = (*paramIter).getSimulinkPath() + (*paramIter).getSimulinkName();
+                if (opalParams->contains(s))
+                {
+                    (*paramIter).setOpalID(opalParams->value(s));
+                    //                qDebug() << __FILE__ << " Line:" << __LINE__ << ": Successfully added " << s;
+                }
+                else
+                {
+                    qWarning() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list";
+                }
+            }
+        }
+        delete opalParams;
+    }
+}
+
+ParameterList::~ParameterList()
+{
+    delete params;
+    delete paramList;
+}
+
+/**
+  Get the list of parameters in the simulink model.  This function does not require
+  any prior knowlege of the parameters.  It works by first calling OpalGetParameterList to
+  get the number of paramters, then allocates the required amount of memory and then gets
+  the paramter list using a second call to OpalGetParameterList.
+  */
+void ParameterList::getParameterList(QMap<QString, unsigned short> *opalParams)
+{
+    /* inputs */
+    unsigned short allocatedParams=0;
+    unsigned short allocatedPathLen=0;
+    unsigned short allocatedNameLen=0;
+    unsigned short allocatedVarLen=0;
+
+    /* outputs */
+    unsigned short numParams;
+    unsigned short *idParam=NULL;
+    unsigned short maxPathLen;
+    char **paths=NULL;
+    unsigned short maxNameLen;
+    char **names=NULL;
+    unsigned short maxVarLen;
+    char **var=NULL;
+
+    int returnValue;
+
+    returnValue = OpalGetParameterList(allocatedParams, &numParams, idParam,
+                             allocatedPathLen, &maxPathLen, paths,
+                             allocatedNameLen, &maxNameLen, names,
+                             allocatedVarLen, &maxVarLen, var);
+    if (returnValue!=E2BIG)
+    {
+//        OpalRT::setLastErrorMsg();
+        OpalRT::OpalErrorMsg::displayLastErrorMsg();
+        return;
+    }
+
+    // allocate memory for parameter list
+
+    idParam = new unsigned short[numParams];
+    allocatedParams = numParams;
+
+    paths = new char*[numParams];
+    for (int i=0; i<numParams; i++)
+        paths[i]=new char[maxPathLen];
+    allocatedPathLen = maxPathLen;
+
+    names = new char*[numParams];
+    for (int i=0; i<numParams; i++)
+        names[i] = new char[maxNameLen];
+    allocatedNameLen = maxNameLen;
+
+    var = new char*[numParams];
+    for (int i=0; i<numParams; i++)
+        var[i] = new char[maxVarLen];
+    allocatedVarLen = maxVarLen;
+
+    returnValue = OpalGetParameterList(allocatedParams, &numParams, idParam,
+                             allocatedPathLen, &maxPathLen, paths,
+                             allocatedNameLen, &maxNameLen, names,
+                             allocatedVarLen, &maxVarLen, var);
+
+    if (returnValue != EOK)
+    {
+//        OpalRT::setLastErrorMsg();
+        OpalRT::OpalErrorMsg::displayLastErrorMsg();
+        return;
+    }
+
+    QString path, name;
+    for (int i=0; i<numParams; ++i)
+    {
+        path.clear();
+        path.append(paths[i]);
+        name.clear();
+        name.append(names[i]);
+        if (path[path.size()-1] == '/')
+            opalParams->insert(path+name, idParam[i]);
+        else
+            opalParams->insert(path+'/'+name, idParam[i]);
+    }
+//     Dump out the list of parameters
+//    QMap<QString, unsigned short>::const_iterator paramPrint;
+//    for (paramPrint = opalParams->begin(); paramPrint != opalParams->end(); ++paramPrint)
+//        qDebug() << paramPrint.key();
+
+
+}
+
+int ParameterList::indexOf(const Parameter &p)
+{
+    // incase p is a copy of the actual parameter we want (i.e., addresses differ)
+    Parameter *pPtr = &((*params)[p.getComponentID()][p.getParamID()]);
+
+    QList<QList<Parameter*> >::const_iterator iter;
+    int index = -1;
+    for (iter = paramList->begin(); iter != paramList->end(); ++iter)
+    {
+        if ((index = (*iter).indexOf(pPtr)) != -1)
+            return index;
+    }
+    return index;
+}
+
+
+ParameterList::const_iterator::const_iterator(QList<Parameter> paramList)
+{
+    this->paramList = QList<Parameter>(paramList);
+    index = 0;
+}
+
+ParameterList::const_iterator::const_iterator(const const_iterator &other)
+{
+    paramList = QList<Parameter>(other.paramList);
+    index = other.index;
+}
+
+ParameterList::const_iterator ParameterList::begin() const
+{
+    QList<QMap<QGCParamID, Parameter> > compList = params->values();
+    QList<Parameter> paramList;
+    QList<QMap<QGCParamID, Parameter> >::const_iterator compIter;
+    for (compIter = compList.begin(); compIter != compList.end(); ++compIter)
+        paramList.append((*compIter).values());
+    return const_iterator(paramList);
+}
+
+ParameterList::const_iterator ParameterList::end() const
+{
+    const_iterator iter = begin();
+    return iter+=iter.paramList.size();
+}
+
+int ParameterList::count()
+{
+    int count = 0;
+    QList<QList<Parameter*> >::const_iterator iter;
+    for (iter = paramList->begin(); iter != paramList->end(); ++iter)
+        count += (*iter).count();
+    return count;
+}
+
+/* Functions related to reading the xml config file */
+
+bool ParameterList::open(QString filename)
+{
+    QFile paramFile(filename);
+    if (!paramFile.exists())
+    {
+        /// \todo open dialog box (maybe: that could also go in  comm config window)
+        return false;
+    }
+
+    if (!paramFile.open(QIODevice::ReadOnly))
+    {
+        return false;
+    }
+
+    read(&paramFile);
+
+    return true;
+}
+
+bool ParameterList::read(QIODevice *device)
+{
+    QDomDocument *paramConfig = new QDomDocument();
+
+    QString errorStr;
+    int errorLine;
+    int errorColumn;
+
+    if (!paramConfig->setContent(device, true, &errorStr, &errorLine,
+                                &errorColumn))
+    {
+        qDebug() << "Error reading XML Parameter File on line: " << errorLine << errorStr;
+        return false;
+    }
+
+    QDomElement root = paramConfig->documentElement();
+    if (root.tagName() != "ParameterList") {
+        qDebug() << __FILE__ << __LINE__ << "This is not a parameter list xml file";
+        return false;
+    }
+
+    QDomElement child = root.firstChildElement("Block");
+    while (!child.isNull())
+    {
+        parseBlock(child);
+        child = child.nextSiblingElement("Block");
+    }
+
+    delete paramConfig;
+    return true;
+}
+
+void ParameterList::parseBlock(const QDomElement &block)
+{
+
+    QDomNodeList paramList;
+    QDomElement e;
+    Parameter *p;
+    SubsystemIds id;
+    if (block.attribute("name") == "Navigation")
+        id = OpalRT::NAV_ID;
+    else if (block.attribute("name") == "Controller")
+        id = OpalRT::CONTROLLER_ID;
+    else if (block.attribute("name") == "ServoOutputs")
+        id = OpalRT::SERVO_OUTPUTS;
+    else if (block.attribute("name") == "ServoInputs")
+        id = OpalRT::SERVO_INPUTS;
+
+        paramList = block.elementsByTagName("Parameter");
+        for (int i=0; i < paramList.size(); ++i)
+        {
+            e = paramList.item(i).toElement();
+            if (e.hasAttribute("SimulinkPath") &&
+                e.hasAttribute("SimulinkParameterName") &&
+                e.hasAttribute("QGCParamID"))
+            {
+
+                p = new Parameter(e.attribute("SimulinkPath"),
+                                  e.attribute("SimulinkParameterName"),
+                                  static_cast<uint8_t>(id),
+                                  QGCParamID(e.attribute("QGCParamID")));
+                (*params)[id].insert(p->getParamID(), *p);
+                delete p;
+            }
+            else
+            {
+                qDebug() << __FILE__ << ":" << __LINE__ << ": error in xml doc";
+            }
+        }
+
+}

src/comm/ParameterList.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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/>.
+
+======================================================================*/
+
+#ifndef PARAMETERLIST_H
+#define PARAMETERLIST_H
+
+#include <QMap>
+#include <QVector>
+#include <QIODevice>
+#include <QFile>
+#include <QDir>
+#include <QApplication>
+#include <QtXml>
+
+#include "mavlink_types.h"
+#include "QGCParamID.h"
+#include "Parameter.h"
+#include "OpalRT.h"
+
+namespace OpalRT
+{
+    class ParameterList
+    {
+    public:
+
+        class const_iterator
+        {
+            friend class ParameterList;
+
+        public:
+            inline const_iterator() {}
+            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)
+                                                         &&(this->index<other.index);}
+            bool operator==(const const_iterator& other) {return (this->paramList == other.paramList)
+                                                          &&(this->index==other.index);}
+            bool operator!=(const const_iterator& other) {return !((*this) == other);}
+            const Parameter& operator*() const {return paramList[index];}
+            const Parameter* operator->() const {return &paramList[index];}
+
+            const_iterator& operator++() {++index; return *this;}
+        private:
+            const_iterator(QList<Parameter>);
+            QList<Parameter> paramList;
+            int index;
+        };
+
+
+        ParameterList();
+        ~ParameterList();
+
+        /** Count the number of parameters in the list.
+          \return Total number of parameters
+          */
+        int count();
+
+        /** Find p in the list and return its index.
+          \note In order to use this index to look up p, the component is also needed.
+          \return the index of p or -1 if p is not found
+          \example
+          \code
+          int compid = OpalRT::CONTROLLER_ID;
+          Parameter p("simulinkpath", "simulinkparamname", compid, QGCParamID("PID_GAIN"));
+          ParameterList pList;
+          if ((int index=pList.indexOf(p)) != -1)
+             qDebug() << "PID_GAIN is at index " << index;
+          \endcode          
+          */
+        int indexOf(const Parameter& p);
+        bool contains(int compid, QGCParamID paramid) const {return (*params)[compid].contains(paramid);}
+
+        /// Get a parameter from the list
+        const Parameter getParameter(int compid, QGCParamID paramid) const {return (*params)[compid][paramid];}
+        Parameter& getParameter(int compid, QGCParamID paramid) {return (*params)[compid][paramid];}
+        const Parameter getParameter(int compid, int index) const {return *((*paramList)[compid][index]);}        
+
+        /** Convenient syntax for calling OpalRT::Parameter::getParameter() */
+        Parameter& operator()(int compid, QGCParamID paramid) {return getParameter(compid, paramid);}
+        Parameter& operator()(uint8_t compid, QGCParamID paramid) {return getParameter(static_cast<int>(compid), paramid);}
+
+        const_iterator begin() const;
+        const_iterator end() const;
+
+    protected:
+        /** Store the parameters mapped by componentid, and paramid.
+           \code
+           // Look up a parameter
+           int compid = 1;
+           QGCParamID paramid("PID_GAIN");
+           Parameter p = params[compid][paramid];
+           \endcode
+           */
+        QMap<int, QMap<QGCParamID, Parameter> > *params;
+        /**
+          Store pointers to the parameters to allow fast lookup by index.
+          This variable may be changed to const pointers to ensure all changes
+          are made through the map container.
+          */
+        QList<QList<Parameter*> > *paramList;
+        /**
+          Get the list of available parameters from Opal-RT.
+          \param[out] opalParams Map of parameter paths/names to ids which are valid in Opal-RT
+          */
+        void getParameterList(QMap<QString, unsigned short>* opalParams);
+
+        /**
+          Open a file for reading in the xml config data
+          */
+        bool open(QString filename=QString());
+        /**
+          Attempt to read XML configuration data from device
+          \param[in] the device to read the xml data from
+          \return true if the configuration was read successfully, false otherwise
+          */
+        bool read(QIODevice *device);
+
+        void parseBlock(const QDomElement &block);
+    };
+}
+#endif // PARAMETERLIST_H

src/comm/QGCParamID.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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 Implementation of class OpalRT::QGCParamID
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#include "QGCParamID.h"
+using namespace OpalRT;
+
+QGCParamID::QGCParamID(const char paramid[]):data(paramid)
+{
+}
+
+QGCParamID::QGCParamID(const QString s):data(s)
+{
+
+}
+
+QGCParamID::QGCParamID(const QGCParamID &other):data(other.data)
+{
+
+}
+
+//
+//QDataStream& operator<<(QDataStream& stream, const QGCParamID& paramid)
+//{
+//    return stream << paramid.data;
+//}

src/comm/QGCParamID.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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 Stores the paramid used for mavlink
+ *   @author Bryan Godbolt <godbolt@ualberta.ca>
+ */
+
+#ifndef QGCPARAMID_H
+#define QGCPARAMID_H
+
+#include <QString>
+
+#include "mavlink_types.h"
+
+//namespace OpalRT
+//{
+//    class QGCParamID;
+//}
+//
+//QDataStream& operator<<(QDataStream&, const OpalRT::QGCParamID&);
+
+namespace OpalRT
+{
+    /** Stores a param_id for the mavlink parameter packets.  This class adds the convenience
+      of storing the id as a string (e.g., easy comparison).
+
+      \todo Fix: warning: deprecated conversion from string constant to 'char*'
+      */
+    class QGCParamID
+    {
+//        friend QDataStream& operator<<(QDataStream& stream, const QGCParamID& paramid);
+    public:
+
+        QGCParamID(const char[]);
+        QGCParamID(const QString);
+        QGCParamID() {}
+        QGCParamID(const QGCParamID& other);
+
+        bool operator<(const QGCParamID& other) const {return data<other.data;}
+        bool operator==(const QGCParamID& other) const {return data == other.data;}
+        operator QString() const {return data;}
+
+        const QString getParamString() const {return static_cast<const QString>(data);}
+        int8_t* toInt8_t() const {return (int8_t*)data.toAscii().data();}
+
+    protected:
+        QString data;
+    };
+}
+#endif // QGCPARAMID_H

src/uas/UAS.cc

@@ -538,6 +538,21 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit textMessageReceived(uasId, message.compid, severity, text);
             }
             break;
+#ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
+        case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
+            {
+                mavlink_nav_filter_bias_t bias;
+                mavlink_msg_nav_filter_bias_decode(&message, &bias);
+                quint64 time = MG::TIME::getGroundTimeNow();
+                emit valueChanged(uasId, "b_f[0]", bias.accel_0, time);
+                emit valueChanged(uasId, "b_f[1]", bias.accel_1, time);
+                emit valueChanged(uasId, "b_f[2]", bias.accel_2, time);
+                emit valueChanged(uasId, "b_w[0]", bias.gyro_0, time);
+                emit valueChanged(uasId, "b_w[1]", bias.gyro_1, time);
+                emit valueChanged(uasId, "b_w[2]", bias.gyro_2, time);
+            }
+            break;
+#endif
         default:
             {
                 if (!unknownPackets.contains(message.msgid))

src/ui/CommConfigurationWindow.cc

@@ -43,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkSimulationLink.h"
 #ifdef OPAL_RT
 #include "OpalLink.h"
+#include "OpalLinkConfigurationWindow.h"
 #endif
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSettingsWidget.h"
@@ -114,6 +115,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     OpalLink* opal = dynamic_cast<OpalLink*>(link);
     if (opal != 0)
     {
+        QWidget* conf = new OpalLinkConfigurationWindow(opal, this);
+        QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
+        layout->addWidget(conf);
+        ui.linkGroupBox->setLayout(layout);
         ui.linkGroupBox->setTitle(tr("Opal-RT Link"));
     }
 #endif

src/ui/MainWindow.cc

@@ -979,6 +979,13 @@ void MainWindow::loadEngineerView()
         parametersDockWidget->show();
     }
 
+    // RADIO CONTROL VIEW
+    if (rcViewDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
+        rcViewDockWidget->show();
+    }
+
     this->show();
 }
 

src/ui/MainWindow.ui

@@ -38,7 +38,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>22</height>
+     <height>23</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -113,7 +113,7 @@
   <widget class="QStatusBar" name="statusBar"/>
   <action name="actionExit">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
    </property>
    <property name="text">
@@ -125,7 +125,7 @@
   </action>
   <action name="actionSettings">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/preferences-system.svg</normaloff>
      <normalon>:/images/categories/preferences-system.svg</normalon>:/images/categories/preferences-system.svg</iconset>
    </property>
@@ -138,7 +138,7 @@
   </action>
   <action name="actionLiftoff">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/control/launch.svg</normaloff>
      <normalon>:/images/control/launch.svg</normalon>:/images/control/launch.svg</iconset>
    </property>
@@ -148,7 +148,7 @@
   </action>
   <action name="actionLand">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
    </property>
    <property name="text">
@@ -173,7 +173,7 @@
   </action>
   <action name="actionAdd_Link">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/actions/list-add.svg</normaloff>:/images/actions/list-add.svg</iconset>
    </property>
    <property name="text">
@@ -182,7 +182,7 @@
   </action>
   <action name="actionConfiguration">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
    </property>
    <property name="text">
@@ -194,7 +194,7 @@
   </action>
   <action name="actionEngineerView">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -203,7 +203,7 @@
   </action>
   <action name="actionPilotView">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
    </property>
    <property name="text">
@@ -212,7 +212,7 @@
   </action>
   <action name="actionStyleConfig">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
@@ -221,7 +221,7 @@
   </action>
   <action name="actionJoystickSettings">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/devices/input-gaming.svg</normaloff>:/images/devices/input-gaming.svg</iconset>
    </property>
    <property name="text">
@@ -230,7 +230,7 @@
   </action>
   <action name="actionOperatorView">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
    </property>
    <property name="text">
@@ -242,7 +242,7 @@
   </action>
   <action name="action3DView">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
@@ -257,7 +257,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
    </property>
    <property name="text">
@@ -269,7 +269,7 @@
   </action>
   <action name="actionShow_full_view">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/status/network-transmit-receive.svg</normaloff>:/images/status/network-transmit-receive.svg</iconset>
    </property>
    <property name="text">
@@ -278,7 +278,7 @@
   </action>
   <action name="actionShow_MAVLink_view">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
    </property>
    <property name="text">
@@ -287,7 +287,7 @@
   </action>
   <action name="actionOnline_documentation">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
@@ -296,7 +296,7 @@
   </action>
   <action name="actionShow_data_analysis_view">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -305,7 +305,7 @@
   </action>
   <action name="actionProject_Roadmap">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
    </property>
    <property name="text">
@@ -314,7 +314,7 @@
   </action>
   <action name="actionCredits_Developers">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset>
      <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
@@ -323,9 +323,7 @@
   </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
- <resources>
-  <include location="../../mavground.qrc"/>
- </resources>
+ <resources/>
  <connections>
   <connection>
    <sender>actionExit</sender>

src/ui/OpalLinkConfigurationWindow.cc

+#include "OpalLinkConfigurationWindow.h"
+
+OpalLinkConfigurationWindow::OpalLinkConfigurationWindow(OpalLink* link,
+                                                         QWidget *parent,
+                                                         Qt::WindowFlags flags) :
+    QWidget(parent, flags),
+    link(link)
+
+{
+
+
+    ui.setupUi(this);
+
+    ui.opalInstIDSpinBox->setValue(this->link->getOpalInstID());
+
+    connect(ui.opalInstIDSpinBox, SIGNAL(valueChanged(int)), link, SLOT(setOpalInstID(int)));
+    connect(link, SIGNAL(connected(bool)), this, SLOT(allowSettingsAccess(bool)));
+    this->show();
+}
+
+void OpalLinkConfigurationWindow::allowSettingsAccess(bool enabled)
+{
+    ui.paramFileButton->setEnabled(enabled);
+    ui.servoConfigFileButton->setEnabled(enabled);
+}

src/ui/OpalLinkConfigurationWindow.h

+#ifndef OPALLINKCONFIGURATIONWINDOW_H
+#define OPALLINKCONFIGURATIONWINDOW_H
+
+#include <QWidget>
+#include <QDebug>
+
+#include "LinkInterface.h"
+#include "ui_OpalLinkSettings.h"
+#include "OpalLink.h"
+
+class OpalLinkConfigurationWindow : public QWidget
+{
+Q_OBJECT
+public:
+    explicit OpalLinkConfigurationWindow(OpalLink* link, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
+signals:
+
+public slots:
+
+    void allowSettingsAccess(bool enabled);
+
+private:
+    Ui::OpalLinkSettings ui;
+    OpalLink* link;
+};
+
+#endif // OPALLINKCONFIGURATIONWINDOW_H

src/ui/OpalLinkSettings.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>OpalLinkSettings</class>
+ <widget class="QWidget" name="OpalLinkSettings">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>537</width>
+    <height>250</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>OpalLink Configuration</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0">
+   <property name="margin">
+    <number>6</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QLabel" name="portlabel">
+     <property name="text">
+      <string>Model Instance ID</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="portlabel_2">
+     <property name="text">
+      <string>Opal-RT Parameter File</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="portlabel_3">
+     <property name="text">
+      <string>Servo Configuration File</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="2">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>431</width>
+       <height>47</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="1">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="paramFileButton">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="text">
+      <string>Change</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QPushButton" name="servoConfigFileButton">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="text">
+      <string>Change</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1" colspan="2">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QSpinBox" name="opalInstIDSpinBox">
+       <property name="minimum">
+        <number>101</number>
+       </property>
+       <property name="maximum">
+        <number>200</number>
+       </property>
+       <property name="value">
+        <number>101</number>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+  <action name="actionDelete">
+   <property name="text">
+    <string>Delete</string>
+   </property>
+   <property name="toolTip">
+    <string>Delete this link</string>
+   </property>
+  </action>
+  <action name="actionConnect">
+   <property name="text">
+    <string>Connect</string>
+   </property>
+   <property name="toolTip">
+    <string>Connect this link</string>
+   </property>
+  </action>
+  <action name="actionClose">
+   <property name="text">
+    <string>Close</string>
+   </property>
+   <property name="toolTip">
+    <string>Close the configuration window</string>
+   </property>
+  </action>
+ </widget>
+ <resources>
+  <include location="../../mavground.qrc"/>
+ </resources>
+ <connections>
+  <connection>
+   <sender>actionClose</sender>
+   <signal>triggered()</signal>
+   <receiver>OpalLinkSettings</receiver>
+   <slot>close()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>-1</x>
+     <y>-1</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>224</x>
+     <y>195</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

src/ui/QGCRemoteControlView.cc

@@ -45,6 +45,7 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     channelLayout(new QVBoxLayout()),
     ui(new Ui::QGCRemoteControlView)
 {
+
     //ui->setupUi(this);
     QGridLayout* layout = new QGridLayout(this);
     layout->addLayout(channelLayout, 1, 0, 1, 2);