ready to test load save and transmit for rc calibration

settings/RadioCalibration.xml

 <!-- Values are ordered low center high -->
 <channels>
-  <threeSetpoint name="Aileron" number="1">1.0, 1.5, 2.0</threeSetpoint>
-  <twoSetpoint name="Gyro" number="3">2.0, 1.0</twoSetpoint>
-  <fiveSetpoint name="Pitch" number="5">1.0, 1.25, 1.5, 1.75, 2.0</fiveSetpoint>
+  <threeSetpoint name="Aileron" number="1">1000.0, 1500.0, 2000.0</threeSetpoint>
+  <threeSetpoint name="Elevator" number="2">1000.0, 1500.0, 2000.0</threeSetpoint>
+  <threeSetpoint name="Rudder" number="4">1000.0, 1500.0, 2000.0</threeSetpoint>
+  <twoSetpoint name="Gyro" number="5">2000.0, 1000.0</twoSetpoint>
+  <fiveSetpoint name="Pitch" number="6">1000.0, 1250.0, 1500.0, 1750.0, 2000.0</fiveSetpoint>
+  <fiveSetpoint name="Throttle" number="3">1000.0, 1250.0, 1500.0, 1750.0, 2000.0</fiveSetpoint>
 </channels>

src/comm/OpalLink.cc

@@ -149,6 +149,11 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
             mavlink_msg_radio_calibration_decode(&msg, &radio);
             qDebug() << "RADIO CALIBRATION RECEIVED";
             qDebug() << "AILERON: " << radio.aileron[0] << " " << radio.aileron[1] << " " << radio.aileron[2];
+            qDebug() << "ELEVATOR: " << radio.elevator[0] << " " << radio.elevator[1] << " " << radio.elevator[2];
+            qDebug() << "RUDDER: " << radio.rudder[0] << " " << radio.rudder[1] << " " << radio.rudder[2];
+            qDebug() << "GYRO: " << radio.gyro[0] << " " << radio.gyro[1];
+            qDebug() << "PITCH: " << radio.pitch[0] << radio.pitch[1] << radio.pitch[2] << radio.pitch[3] << radio.pitch[4];
+            qDebug() << "THROTTLE: " << radio.throttle[0] << radio.throttle[1] << radio.throttle[2] << radio.throttle[3] << radio.throttle[4];
         }
         break;
 #endif

src/ui/RadioCalibration/CurveCalibrator.cc

@@ -92,16 +92,9 @@ void CurveCalibrator::set(const QVector<float> &data)
 {
     if (data.size() == 5)
     {
-//        delete setpoints;
-//        QVector<double> dataDouble;
         for (int i=0; i<data.size(); ++i)
             setpoints->replace(i, static_cast<double>(data[i]));
-//        setpoints = new QVector<double>(dataDouble);
-        curve->setPen(QPen(QColor(QString("lime"))));
         curve->setData(*positions, *setpoints);
-
-
-        curve->attach(plot);
         plot->replot();
     }
     else

src/ui/RadioCalibration/RadioCalibrationData.cc

@@ -58,3 +58,13 @@ const QVector<float>& RadioCalibrationData::operator ()(int i) const
     // This is not good.  If it is ever used after being returned it will cause a crash
 //    return QVector<float>();
 }
+
+QString RadioCalibrationData::toString(RadioElement element) const
+{
+    QString s;
+    foreach (float f, (*data)[element])
+    {
+        s += QString::number(f) + ", ";
+    }
+    return s.mid(0, s.length()-2);
+}

src/ui/RadioCalibration/RadioCalibrationData.h

@@ -4,6 +4,7 @@
 #include <QObject>
 #include <QDebug>
 #include <QVector>
+#include <QString>
 
 
 class RadioCalibrationData : public QObject
@@ -43,6 +44,10 @@ public slots:
     void setPitch(int index, float value) {set(PITCH, index, value);}
     void setThrottle(int index, float value) {set(THROTTLE, index, value);}
 
+public:
+    /// Creates a comman seperated list of the values for a particular element
+    QString toString(const RadioElement element) const;
+
 protected:
     QVector<QVector<float> > *data;
 

src/ui/RadioCalibration/RadioCalibrationWindow.cc

@@ -84,7 +84,80 @@ void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
 
 void RadioCalibrationWindow::saveFile()
 {
-    qDebug() << __FILE__ << __LINE__ << "SAVE TO FILE";
+    QString fileName(QFileDialog::getSaveFileName(this,
+                                                  tr("Save RC Calibration"),
+                                                  "settings/",
+                                                  tr("XML Files (*.xml)")));
+    if (fileName.isEmpty())
+        return;
+
+    QDomDocument *rcConfig = new QDomDocument();
+
+    QFile rcFile(fileName);
+    if (rcFile.exists())
+    {
+            rcFile.remove();
+    }
+    if (!rcFile.open(QFile::WriteOnly | QFile::Text))
+    {
+        qDebug() << __FILE__ << __LINE__ << "could not open"  << rcFile.fileName() << "for writing";
+        return;
+    }
+
+    QDomElement root;
+    rcConfig->appendChild(root=rcConfig->createElement("channels"));
+    QDomElement e;
+    QDomText t;
+
+    // Aileron
+    e = rcConfig->createElement("threeSetpoint");
+    e.setAttribute("name", "Aileron");
+    e.setAttribute("number", "1");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::AILERON));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Elevator
+    e = rcConfig->createElement("threeSetpoint");
+    e.setAttribute("name", "Elevator");
+    e.setAttribute("number", "2");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::ELEVATOR));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Rudder
+    e = rcConfig->createElement("threeSetpoint");
+    e.setAttribute("name", "Rudder");
+    e.setAttribute("number", "4");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::RUDDER));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Gyro Mode/Gain
+    e = rcConfig->createElement("twoSetpoint");
+    e.setAttribute("name", "Gyro");
+    e.setAttribute("number", "5");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::GYRO));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Throttle
+    e = rcConfig->createElement("fiveSetpoint");
+    e.setAttribute("name", "Throttle");
+    e.setAttribute("number", "3");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::THROTTLE));
+    e.appendChild(t);
+    root.appendChild(e);
+    // Pitch
+    e = rcConfig->createElement("fiveSetpoint");
+    e.setAttribute("name", "Pitch");
+    e.setAttribute("number", "6");
+    t = rcConfig->createTextNode(radio->toString(RadioCalibrationData::PITCH));
+    e.appendChild(t);
+    root.appendChild(e);
+
+
+    QTextStream out(&rcFile);
+    const int IndentSize = 4;
+    rcConfig->save(out, IndentSize);
+    rcFile.close();
+
 }
 
 void RadioCalibrationWindow::loadFile()
@@ -121,6 +194,7 @@ void RadioCalibrationWindow::loadFile()
         return;
     }
 
+    rcFile.close();
     QDomElement root = rcConfig->documentElement();
     if (root.tagName() != "channels") {
         qDebug() << __FILE__ << __LINE__ << "This is not a Radio Calibration xml file";

src/ui/RadioCalibration/RadioCalibrationWindow.h

@@ -13,6 +13,7 @@
 #include <QFileDialog>
 #include <QFile>
 #include <QtXml>
+#include <QTextStream>
 
 #include "AirfoilServoCalibrator.h"
 #include "SwitchCalibrator.h"