laid out all widgets needed for radio calibration window

qgroundcontrol.pro

@@ -76,8 +76,7 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCPxImuFirmwareUpdate.ui \
     src/ui/QGCDataPlot2D.ui \
     src/ui/QGCRemoteControlView.ui \
-    src/ui/WaypointGlobalView.ui \
-    src/ui/QGCRadioCalibration.ui
+    src/ui/WaypointGlobalView.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -162,7 +161,10 @@ HEADERS += src/MG.h \
     src/ui/QGCRemoteControlView.h \
     src/WaypointGlobal.h \
     src/ui/WaypointGlobalView.h \
-    src/ui/RadioCalibration/RadioCalibrationWindow.h
+    src/ui/RadioCalibration/RadioCalibrationWindow.h \
+    src/ui/RadioCalibration/AirfoilServoCalibrator.h \
+    src/ui/RadioCalibration/SwitchCalibrator.h \
+    src/ui/RadioCalibration/CurveCalibrator.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -229,7 +231,10 @@ SOURCES += src/main.cc \
     src/ui/QGCRemoteControlView.cc \
     src/WaypointGlobal.cpp \
     src/ui/WaypointGlobalView.cpp \
-    src/ui/RadioCalibration/RadioCalibrationWindow.cc
+    src/ui/RadioCalibration/RadioCalibrationWindow.cc \
+    src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
+    src/ui/RadioCalibration/SwitchCalibrator.cc \
+    src/ui/RadioCalibration/CurveCalibrator.cc
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library

src/ui/QGCRemoteControlView.cc

@@ -76,7 +76,7 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     calibrateButtonLayout->addWidget(calibrate, 0, Qt::AlignHCenter);
     layout->addItem(calibrateButtonLayout, 3, 0, 1, 2);
 
-    calibrationWindow = new QWidget(this, Qt::Window);
+    calibrationWindow = new RadioCalibrationWindow(this);
     connect(calibrate, SIGNAL(clicked()), calibrationWindow, SLOT(show()));
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(setUASId(int)));
@@ -108,6 +108,7 @@ void QGCRemoteControlView::setUASId(int id)
         // New UAS exists, connect
         nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
         connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
+        connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), calibrationWindow, SLOT(setChannel(int,float,float)));
         connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
     }
 }

src/ui/QGCRemoteControlView.h

@@ -34,6 +34,8 @@ This file is part of the QGROUNDCONTROL project
 #include <QVector>
 #include <QPushButton>
 
+#include "RadioCalibration/RadioCalibrationWindow.h"
+
 namespace Ui {
     class QGCRemoteControlView;
 }
@@ -70,7 +72,7 @@ protected:
     QProgressBar* rssiBar;
     QLabel* nameLabel;
     QPushButton *calibrate;
-    QWidget *calibrationWindow;
+    RadioCalibrationWindow *calibrationWindow;
 
 private:
     Ui::QGCRemoteControlView *ui;

src/ui/RadioCalibration/AirfoilServoCalibrator.cc

+#include "AirfoilServoCalibrator.h"
+
+AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent) :
+    QWidget(parent)
+{
+    QGridLayout *grid = new QGridLayout(this);
+
+    /* Add title */
+    QHBoxLayout *titleLayout = new QHBoxLayout();
+    QLabel *title;
+    if (type == AILERON)
+    {
+        title = new QLabel(tr("Aileron"));
+    }
+    else if (type == ELEVATOR)
+    {
+        title = new QLabel(tr("Elevator"));
+    }
+    else if (type == RUDDER)
+    {
+        title = new QLabel(tr("Rudder"));
+    }
+
+    titleLayout->addWidget(title);
+    grid->addLayout(titleLayout, 0, 0, 1, 3, Qt::AlignHCenter);
+
+    /* Add current Pulse Width Display */
+    QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
+    pulseWidth = new QLabel();
+    QHBoxLayout *pulseLayout = new QHBoxLayout();
+    pulseLayout->addWidget(pulseWidthTitle);
+    pulseLayout->addWidget(pulseWidth);
+    grid->addLayout(pulseLayout, 1, 0, 1, 3);
+
+    this->setLayout(grid);
+}
+
+void AirfoilServoCalibrator::channelChanged(float raw)
+{
+    pulseWidth->setText(QString::number(static_cast<double>(raw)));
+}

src/ui/RadioCalibration/AirfoilServoCalibrator.h

+#ifndef AIRFOILSERVOCALIBRATOR_H
+#define AIRFOILSERVOCALIBRATOR_H
+
+#include <QWidget>
+#include <QLabel>
+#include <QPushButton>
+#include <QVector>
+#include <QGridLayout>
+#include <QHBoxLayout>
+
+class AirfoilServoCalibrator : public QWidget
+{
+Q_OBJECT
+public:
+    enum AirfoilType
+    {
+        AILERON,
+        ELEVATOR,
+        RUDDER
+    };
+
+    explicit AirfoilServoCalibrator(AirfoilType type = AILERON, QWidget *parent = 0);
+
+
+
+signals:
+    void highSetpointChanged(float);
+    void centerSetpointChanged(float);
+    void lowSetpointChanged(float);
+
+public slots:
+    void channelChanged(float raw);
+protected:
+    QLabel *pulseWidth;
+    QPushButton *highButton;
+    QPushButton *centerButton;
+    QPushButton *lowButton;
+
+    float high;
+    float center;
+    float low;
+
+    QVector<float> log;
+};
+
+#endif // AIRFOILSERVOCALIBRATOR_H

src/ui/RadioCalibration/CurveCalibrator.cc

+#include "CurveCalibrator.h"
+
+CurveCalibrator::CurveCalibrator(QString titleString, QWidget *parent) :
+    QWidget(parent),
+    setpoints(QVector<double>(5)),
+    positions(QVector<double>())
+
+{
+    QGridLayout *grid = new QGridLayout(this);
+    QLabel *title = new QLabel(titleString);
+    grid->addWidget(title, 0, 0, 1, 5, Qt::AlignHCenter);
+
+    QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
+    pulseWidth = new QLabel();
+    QHBoxLayout *pulseLayout = new QHBoxLayout();
+    pulseLayout->addWidget(pulseWidthTitle);
+    pulseLayout->addWidget(pulseWidth);
+    grid->addLayout(pulseLayout, 1, 0, 1, 5, Qt::AlignHCenter);
+
+    for (int i=0; i<=100; i=i+100/4)
+        positions.append(static_cast<double>(i));
+
+
+    setpoints.fill(1500);
+
+    plot = new QwtPlot();
+
+    grid->addWidget(plot, 2, 0, 1, 5, Qt::AlignHCenter);
+
+
+    plot->setAxisScale(QwtPlot::yLeft, 1000, 2000, 200);
+
+    curve = new QwtPlotCurve();
+    curve->setData(positions, setpoints);
+    curve->attach(plot);
+
+    plot->replot();
+
+
+    this->setLayout(grid);
+}
+
+void CurveCalibrator::channelChanged(float raw)
+{
+    pulseWidth->setText(QString::number(static_cast<double>(raw)));
+}

src/ui/RadioCalibration/CurveCalibrator.h

+#ifndef CURVECALIBRATOR_H
+#define CURVECALIBRATOR_H
+
+#include <QWidget>
+#include <QVector>
+#include <qwt_plot.h>
+#include <qwt_plot_curve.h>
+#include <QGridLayout>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPushButton>
+
+class CurveCalibrator : public QWidget
+{
+Q_OBJECT
+public:
+    explicit CurveCalibrator(QString title = QString(), QWidget *parent = 0);
+
+signals:
+    void setpointChanged(float[5]);
+public slots:
+    void channelChanged(float raw);
+
+protected:
+    QVector<double> setpoints;
+    QVector<double> positions;
+    QwtPlot *plot;
+    QwtPlotCurve *curve;
+    QLabel *pulseWidth;
+};
+
+#endif // CURVECALIBRATOR_H

src/ui/RadioCalibration/RadioCalibrationWindow.cc

@@ -3,4 +3,56 @@
 RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
         QWidget(parent, Qt::Window)
 {
+    QGridLayout *grid = new QGridLayout();
+
+    aileron = new AirfoilServoCalibrator(AirfoilServoCalibrator::AILERON);
+    grid->addWidget(aileron, 0, 0, 1, 1, Qt::AlignTop);
+
+    elevator = new AirfoilServoCalibrator(AirfoilServoCalibrator::ELEVATOR);
+    grid->addWidget(elevator, 0, 1, 1, 1, Qt::AlignTop);
+
+    rudder = new AirfoilServoCalibrator(AirfoilServoCalibrator::RUDDER);
+    grid->addWidget(rudder, 0, 2, 1, 1, Qt::AlignTop);
+
+    gyro = new SwitchCalibrator(tr("Gyro Mode/Gain"));
+    grid->addWidget(gyro, 0, 3, 1, 1, Qt::AlignTop);
+
+
+    pitch = new CurveCalibrator(tr("Collective Pitch"));
+    grid->addWidget(pitch, 1, 0, 1, 2);
+
+    throttle = new CurveCalibrator(tr("Throttle"));
+    grid->addWidget(throttle, 1, 2, 1, 2);
+
+    this->setLayout(grid);
+}
+
+void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
+{
+    /** this expects a particular channel to function mapping
+       \todo allow run-time channel mapping
+       */
+    switch (ch)
+    {
+    case 0:
+        aileron->channelChanged(raw);
+        break;
+    case 1:
+        elevator->channelChanged(raw);
+        break;
+    case 2:
+        throttle->channelChanged(raw);
+        break;
+    case 3:
+        rudder->channelChanged(raw);
+        break;
+    case 4:
+        gyro->channelChanged(raw);
+        break;
+    case 5:
+        pitch->channelChanged(raw);
+        break;
+
+
+    }
 }

src/ui/RadioCalibration/RadioCalibrationWindow.h

@@ -6,6 +6,11 @@
 #include <QGroupBox>
 #include <QPushButton>
 #include <QVector>
+#include <QGridLayout>
+
+#include "AirfoilServoCalibrator.h"
+#include "SwitchCalibrator.h"
+#include "CurveCalibrator.h"
 
 class RadioCalibrationWindow : public QWidget
 {
@@ -16,34 +21,15 @@ public:
 signals:
 
 public slots:
+    void setChannel(int ch, float raw, float normalized);
 
 protected:
-    class AirfoilServoCalibrator : public QWidget
-    {
-        Q_OBJECT
-    public:
-        explicit AirfoilServoCalibrator(QWidget *parent=0);
-
-    signals:
-        void highSetpointChanged(float);
-        void centerSetpointChanged(float);
-        void lowSetpointChanged(float);
-
-    public slots:
-        void channelChanged(float raw);
-
-    protected:        
-        QLabel *pulseWidth;
-        QPushButton *highButton;
-        QPushButton *centerButton;
-        QPushButton *lowButton;
-
-        float high;
-        float center;
-        float low;
-
-        QVector<float> log;
-    };        
+        AirfoilServoCalibrator *aileron;
+        AirfoilServoCalibrator *elevator;
+        AirfoilServoCalibrator *rudder;
+        SwitchCalibrator *gyro;        
+        CurveCalibrator *pitch;
+        CurveCalibrator *throttle;
 
 };
 

src/ui/RadioCalibration/SwitchCalibrator.cc

+#include "SwitchCalibrator.h"
+
+SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
+    QWidget(parent)
+{
+    /* Add title label*/
+    QLabel *title = new QLabel(titleString);
+    QGridLayout *grid = new QGridLayout();
+    grid->addWidget(title, 0, 0, 1, 3);
+
+    /* Add current Pulse Width Display */
+    QLabel *pulseWidthTitle = new QLabel(tr("Pulse Width (us)"));
+    pulseWidth = new QLabel();
+    QHBoxLayout *pulseLayout = new QHBoxLayout();
+    pulseLayout->addWidget(pulseWidthTitle);
+    pulseLayout->addWidget(pulseWidth);
+    grid->addLayout(pulseLayout, 1, 0, 1, 3);
+
+    this->setLayout(grid);
+}
+
+void SwitchCalibrator::channelChanged(float raw)
+{
+    pulseWidth->setText(QString::number(static_cast<double>(raw)));
+}

src/ui/RadioCalibration/SwitchCalibrator.h

+#ifndef SWITCHCALIBRATOR_H
+#define SWITCHCALIBRATOR_H
+
+#include <QWidget>
+#include <QLabel>
+#include <QPushButton>
+#include <QVector>
+#include <QGridLayout>
+#include <QHBoxLayout>
+
+class SwitchCalibrator : public QWidget
+{
+Q_OBJECT
+public:
+    explicit SwitchCalibrator(QString title=QString(), QWidget *parent = 0);
+
+signals:
+    void defaultSetpointChanged(float);
+    void toggledSetpointChanged(float);
+
+public slots:
+    void channelChanged(float raw);
+protected:
+    QLabel *pulseWidth;
+    QPushButton *defaultButton;
+    QPushButton *toggledButton;
+
+    float defaultPos;
+    float toggled;
+
+    QVector<float> log;
+
+};
+
+#endif // SWITCHCALIBRATOR_H