Merge pull request #4470 from bluerobotics/calibration

Rework joystick calibration (2)

qgcresources.qrc

@@ -254,17 +254,6 @@
         <file alias="radioThrottleDown.png">resources/calibration/mode2/radioThrottleDown.png</file>
         <file alias="radioSwitchMinMax.png">resources/calibration/mode2/radioSwitchMinMax.png</file>
     </qresource>
-    <qresource prefix="/qml/calibration/joystick">
-        <file alias="joystickCenter.png">resources/calibration/joystick/joystickCenter.png</file>
-        <file alias="joystickRollLeft.png">resources/calibration/joystick/joystickRollLeft.png</file>
-        <file alias="joystickRollRight.png">resources/calibration/joystick/joystickRollRight.png</file>
-        <file alias="joystickPitchUp.png">resources/calibration/joystick/joystickPitchUp.png</file>
-        <file alias="joystickPitchDown.png">resources/calibration/joystick/joystickPitchDown.png</file>
-        <file alias="joystickYawLeft.png">resources/calibration/joystick/joystickYawLeft.png</file>
-        <file alias="joystickYawRight.png">resources/calibration/joystick/joystickYawRight.png</file>
-        <file alias="joystickThrottleUp.png">resources/calibration/joystick/joystickThrottleUp.png</file>
-        <file alias="joystickThrottleDown.png">resources/calibration/joystick/joystickThrottleDown.png</file>
-    </qresource>
     <qresource prefix="/db/mapping/joystick">
         <file alias="gamecontrollerdb.txt">resources/SDL_GameControllerDB/gamecontrollerdb.txt</file>
     </qresource>
@@ -278,4 +267,48 @@
     <qresource prefix="/opengl">
         <file>resources/opengl/buglist.json</file>
     </qresource>
+    <qresource prefix="/qml/calibration/joystick/mode1">
+        <file alias="joystickCenter.png">resources/calibration/joystick/mode1/joystickCenter.png</file>
+        <file alias="joystickPitchDown.png">resources/calibration/joystick/mode1/joystickPitchDown.png</file>
+        <file alias="joystickPitchUp.png">resources/calibration/joystick/mode1/joystickPitchUp.png</file>
+        <file alias="joystickRollLeft.png">resources/calibration/joystick/mode1/joystickRollLeft.png</file>
+        <file alias="joystickRollRight.png">resources/calibration/joystick/mode1/joystickRollRight.png</file>
+        <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode1/joystickThrottleDown.png</file>
+        <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode1/joystickThrottleUp.png</file>
+        <file alias="joystickYawLeft.png">resources/calibration/joystick/mode1/joystickYawLeft.png</file>
+        <file alias="joystickYawRight.png">resources/calibration/joystick/mode1/joystickYawRight.png</file>
+    </qresource>
+    <qresource prefix="/qml/calibration/joystick/mode2">
+        <file alias="joystickCenter.png">resources/calibration/joystick/mode2/joystickCenter.png</file>
+        <file alias="joystickPitchDown.png">resources/calibration/joystick/mode2/joystickPitchDown.png</file>
+        <file alias="joystickPitchUp.png">resources/calibration/joystick/mode2/joystickPitchUp.png</file>
+        <file alias="joystickRollLeft.png">resources/calibration/joystick/mode2/joystickRollLeft.png</file>
+        <file alias="joystickRollRight.png">resources/calibration/joystick/mode2/joystickRollRight.png</file>
+        <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode2/joystickThrottleDown.png</file>
+        <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode2/joystickThrottleUp.png</file>
+        <file alias="joystickYawLeft.png">resources/calibration/joystick/mode2/joystickYawLeft.png</file>
+        <file alias="joystickYawRight.png">resources/calibration/joystick/mode2/joystickYawRight.png</file>
+    </qresource>
+    <qresource prefix="/qml/calibration/joystick/mode3">
+        <file alias="joystickCenter.png">resources/calibration/joystick/mode3/joystickCenter.png</file>
+        <file alias="joystickPitchDown.png">resources/calibration/joystick/mode3/joystickPitchDown.png</file>
+        <file alias="joystickPitchUp.png">resources/calibration/joystick/mode3/joystickPitchUp.png</file>
+        <file alias="joystickRollLeft.png">resources/calibration/joystick/mode3/joystickRollLeft.png</file>
+        <file alias="joystickRollRight.png">resources/calibration/joystick/mode3/joystickRollRight.png</file>
+        <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode3/joystickThrottleDown.png</file>
+        <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode3/joystickThrottleUp.png</file>
+        <file alias="joystickYawLeft.png">resources/calibration/joystick/mode3/joystickYawLeft.png</file>
+        <file alias="joystickYawRight.png">resources/calibration/joystick/mode3/joystickYawRight.png</file>
+    </qresource>
+    <qresource prefix="/qml/calibration/joystick/mode4">
+        <file alias="joystickCenter.png">resources/calibration/joystick/mode4/joystickCenter.png</file>
+        <file alias="joystickPitchDown.png">resources/calibration/joystick/mode4/joystickPitchDown.png</file>
+        <file alias="joystickPitchUp.png">resources/calibration/joystick/mode4/joystickPitchUp.png</file>
+        <file alias="joystickRollLeft.png">resources/calibration/joystick/mode4/joystickRollLeft.png</file>
+        <file alias="joystickRollRight.png">resources/calibration/joystick/mode4/joystickRollRight.png</file>
+        <file alias="joystickThrottleDown.png">resources/calibration/joystick/mode4/joystickThrottleDown.png</file>
+        <file alias="joystickThrottleUp.png">resources/calibration/joystick/mode4/joystickThrottleUp.png</file>
+        <file alias="joystickYawLeft.png">resources/calibration/joystick/mode4/joystickYawLeft.png</file>
+        <file alias="joystickYawRight.png">resources/calibration/joystick/mode4/joystickYawRight.png</file>
+    </qresource>
 </RCC>

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -69,6 +69,8 @@ public:
     // Overrides from FirmwarePlugin
     int manualControlReservedButtonCount(void);
 
+    int defaultJoystickTXMode(void) final { return 3; }
+
     bool supportsThrottleModeCenterZero(void);
 
     bool supportsManualControl(void);

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -106,6 +106,11 @@ int FirmwarePlugin::manualControlReservedButtonCount(void)
     return -1;
 }
 
+int FirmwarePlugin::defaultJoystickTXMode(void)
+{
+    return 2;
+}
+
 bool FirmwarePlugin::supportsThrottleModeCenterZero(void)
 {
     // By default, this is supported

src/FirmwarePlugin/FirmwarePlugin.h

@@ -142,6 +142,10 @@ public:
     /// @return -1: reserver all buttons, >0 number of buttons to reserve
     virtual int manualControlReservedButtonCount(void);
 
+    /// Default tx mode to apply to joystick axes
+    /// TX modes are as outlined here: http://www.rc-airplane-world.com/rc-transmitter-modes.html
+    virtual int defaultJoystickTXMode(void);
+
     /// Returns true if the vehicle and firmware supports the use of a throttle joystick that
     /// is zero when centered. Typically not supported on vehicles that have bidirectional
     /// throttle.

src/Joystick/Joystick.cc

@@ -19,12 +19,18 @@ QGC_LOGGING_CATEGORY(JoystickLog, "JoystickLog")
 QGC_LOGGING_CATEGORY(JoystickValuesLog, "JoystickValuesLog")
 
 const char* Joystick::_settingsGroup =                  "Joysticks";
-const char* Joystick::_calibratedSettingsKey =      "Calibrated1"; // Increment number to force recalibration
+const char* Joystick::_calibratedSettingsKey =          "Calibrated2"; // Increment number to force recalibration
 const char* Joystick::_buttonActionSettingsKey =        "ButtonActionName%1";
 const char* Joystick::_throttleModeSettingsKey =        "ThrottleMode";
 const char* Joystick::_exponentialSettingsKey =         "Exponential";
 const char* Joystick::_accumulatorSettingsKey =         "Accumulator";
 const char* Joystick::_deadbandSettingsKey =            "Deadband";
+const char* Joystick::_txModeSettingsKey =              NULL;
+const char* Joystick::_fixedWingTXModeSettingsKey =     "TXMode_FixedWing";
+const char* Joystick::_multiRotorTXModeSettingsKey =    "TXMode_MultiRotor";
+const char* Joystick::_roverTXModeSettingsKey =         "TXMode_Rover";
+const char* Joystick::_vtolTXModeSettingsKey =          "TXMode_VTOL";
+const char* Joystick::_submarineTXModeSettingsKey =     "TXMode_Submarine";
 
 const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "RollAxis",
@@ -33,6 +39,8 @@ const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "ThrottleAxis"
 };
 
+int Joystick::_transmitterMode = 2;
+
 Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager)
     : _exitThread(false)
     , _name(name)
@@ -67,6 +75,8 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     }
 
     _loadSettings();
+
+    connect(_multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &Joystick::_activeVehicleChanged);
 }
 
 Joystick::~Joystick()
@@ -76,11 +86,74 @@ Joystick::~Joystick()
     delete _rgButtonValues;
 }
 
+void Joystick::_setDefaultCalibration(void) {
+    QSettings   settings;
+    settings.beginGroup(_settingsGroup);
+    settings.beginGroup(_name);
+    _calibrated = settings.value(_calibratedSettingsKey, false).toBool();
+
+    // Only set default calibrations if we do not have a calibration for this gamecontroller
+    if(_calibrated) return;
+
+    for(int axis = 0; axis < _axisCount; axis++) {
+        Joystick::Calibration_t calibration;
+        _rgCalibration[axis] = calibration;
+    }
+
+    _rgCalibration[1].reversed = true;
+    _rgCalibration[3].reversed = true;
+
+    // Default TX Mode 2 axis assignments for gamecontrollers
+    _rgFunctionAxis[rollFunction]       = 2;
+    _rgFunctionAxis[pitchFunction]      = 3;
+    _rgFunctionAxis[yawFunction]        = 0;
+    _rgFunctionAxis[throttleFunction]   = 1;
+
+    _exponential = false;
+    _accumulator = false;
+    _deadband = false;
+    _throttleMode = ThrottleModeCenterZero;
+    _calibrated = true;
+
+    _saveSettings();
+}
+
+void Joystick::_activeVehicleChanged(Vehicle *activeVehicle)
+{
+    if(activeVehicle) {
+        if(activeVehicle->fixedWing()) {
+            _txModeSettingsKey = _fixedWingTXModeSettingsKey;
+        } else if(activeVehicle->multiRotor()) {
+            _txModeSettingsKey = _multiRotorTXModeSettingsKey;
+        } else if(activeVehicle->rover()) {
+            _txModeSettingsKey = _roverTXModeSettingsKey;
+        } else if(activeVehicle->vtol()) {
+            _txModeSettingsKey = _vtolTXModeSettingsKey;
+        } else if(activeVehicle->sub()) {
+            _txModeSettingsKey = _submarineTXModeSettingsKey;
+        } else {
+            _txModeSettingsKey = NULL;
+            qWarning() << "No valid joystick TXmode settings key for selected vehicle";
+            return;
+        }
+
+        QSettings settings;
+        settings.beginGroup(_settingsGroup);
+        int mode = settings.value(_txModeSettingsKey, activeVehicle->firmwarePlugin()->defaultJoystickTXMode()).toInt();
+
+        setTXMode(mode);
+    }
+}
+
 void Joystick::_loadSettings(void)
 {
     QSettings   settings;
 
     settings.beginGroup(_settingsGroup);
+
+    if(_txModeSettingsKey)
+        _transmitterMode = settings.value(_txModeSettingsKey, 2).toInt();
+
     settings.beginGroup(_name);
 
     bool badSettings = false;
@@ -96,7 +169,7 @@ void Joystick::_loadSettings(void)
     _throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
     badSettings |= !convertOk;
 
-    qCDebug(JoystickLog) << "_loadSettings calibrated:throttlemode:exponential:deadband:badsettings" << _calibrated << _throttleMode << _exponential << _deadband << badSettings;
+    qCDebug(JoystickLog) << "_loadSettings calibrated:txmode:throttlemode:exponential:deadband:badsettings" << _calibrated << _transmitterMode << _throttleMode << _exponential << _deadband << badSettings;
 
     QString minTpl  ("Axis%1Min");
     QString maxTpl  ("Axis%1Max");
@@ -136,6 +209,10 @@ void Joystick::_loadSettings(void)
         qCDebug(JoystickLog) << "_loadSettings function:axis:badsettings" << function << functionAxis << badSettings;
     }
 
+    // FunctionAxis mappings are always stored in TX mode 2
+    // Remap to stored TX mode in settings
+    _remapAxes(2, _transmitterMode, _rgFunctionAxis);
+
     for (int button=0; button<_totalButtonCount; button++) {
         _rgButtonActions << settings.value(QString(_buttonActionSettingsKey).arg(button), QString()).toString();
         qCDebug(JoystickLog) << "_loadSettings button:action" << button << _rgButtonActions[button];
@@ -152,6 +229,12 @@ void Joystick::_saveSettings(void)
     QSettings settings;
 
     settings.beginGroup(_settingsGroup);
+
+    // Transmitter mode is static
+    // Save the mode we are using
+    if(_txModeSettingsKey)
+        settings.setValue(_txModeSettingsKey, _transmitterMode);
+
     settings.beginGroup(_name);
 
     settings.setValue(_calibratedSettingsKey, _calibrated);
@@ -160,7 +243,7 @@ void Joystick::_saveSettings(void)
     settings.setValue(_deadbandSettingsKey, _deadband);
     settings.setValue(_throttleModeSettingsKey, _throttleMode);
 
-    qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode:deadband" << _calibrated << _throttleMode << _deadband;
+    qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode:deadband:txmode" << _calibrated << _throttleMode << _deadband << _transmitterMode;
 
     QString minTpl  ("Axis%1Min");
     QString maxTpl  ("Axis%1Max");
@@ -187,8 +270,13 @@ void Joystick::_saveSettings(void)
                                 << calibration->deadband;
     }
 
+    // Always save function Axis mappings in TX Mode 2
+    // Write mode 2 mappings without changing mapping currently in use
+    int temp[maxFunction];
+    _remapAxes(_transmitterMode, 2, temp);
+
     for (int function=0; function<maxFunction; function++) {
-        settings.setValue(_rgFunctionSettingsKey[function], _rgFunctionAxis[function]);
+        settings.setValue(_rgFunctionSettingsKey[function], temp[function]);
         qCDebug(JoystickLog) << "_saveSettings name:function:axis" << _name << function << _rgFunctionSettingsKey[function];
     }
 
@@ -198,6 +286,42 @@ void Joystick::_saveSettings(void)
     }
 }
 
+// Relative mappings of axis functions between different TX modes
+int Joystick::_mapFunctionMode(int mode, int function) {
+
+    static const int mapping[][4] = {
+        { 2, 1, 0, 3 },
+        { 2, 3, 0, 1 },
+        { 0, 1, 2, 3 },
+        { 0, 3, 2, 1 }};
+
+    return mapping[mode-1][function];
+}
+
+// Remap current axis functions from current TX mode to new TX mode
+void Joystick::_remapAxes(int currentMode, int newMode, int (&newMapping)[maxFunction]) {
+    int temp[maxFunction];
+
+    for(int function = 0; function < maxFunction; function++) {
+        temp[_mapFunctionMode(newMode, function)] = _rgFunctionAxis[_mapFunctionMode(currentMode, function)];
+    }
+
+    for(int function = 0; function < maxFunction; function++) {
+        newMapping[function] = temp[function];
+    }
+
+}
+
+void Joystick::setTXMode(int mode) {
+    if(mode > 0 && mode <= 4) {
+        _remapAxes(_transmitterMode, mode, _rgFunctionAxis);
+        _transmitterMode = mode;
+        _saveSettings();
+    } else {
+        qCWarning(JoystickLog) << "Invalid mode:" << mode;
+    }
+}
+
 /// Adjust the raw axis value to the -1:1 range given calibration information
 float Joystick::_adjustRange(int value, Calibration_t calibration, bool withDeadbands)
 {
@@ -471,6 +595,7 @@ void Joystick::setFunctionAxis(AxisFunction_t function, int axis)
 
     _calibrated = true;
     _rgFunctionAxis[function] = axis;
+
     _saveSettings();
     emit calibratedChanged(_calibrated);
 }

src/Joystick/Joystick.h

@@ -30,12 +30,18 @@ public:
 
     ~Joystick();
 
-    typedef struct {
+    typedef struct Calibration_t {
         int     min;
         int     max;
         int     center;
         int     deadband;
         bool    reversed;
+        Calibration_t()
+            : min(-32767)
+            , max(32767)
+            , center(0)
+            , deadband(0)
+            , reversed(false) {}
     } Calibration_t;
 
     typedef enum {
@@ -68,6 +74,7 @@ public:
     Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
     Q_PROPERTY(bool exponential READ exponential WRITE setExponential NOTIFY exponentialChanged)
     Q_PROPERTY(bool accumulator READ accumulator WRITE setAccumulator NOTIFY accumulatorChanged)
+	Q_PROPERTY(bool requiresCalibration READ requiresCalibration CONSTANT)
     
     // Property accessors
 
@@ -89,6 +96,8 @@ public:
 
     QString name(void) { return _name; }
 
+	virtual bool requiresCalibration(void) { return true; }
+
     int throttleMode(void);
     void setThrottleMode(int mode);
 
@@ -101,6 +110,9 @@ public:
     bool deadband(void);
     void setDeadband(bool accu);
 
+    void setTXMode(int mode);
+    int getTXMode(void) { return _transmitterMode; }
+
     typedef enum {
         CalibrationModeOff,         // Not calibrating
         CalibrationModeMonitor,     // Monitors are active, continue to send to vehicle if already polling
@@ -141,6 +153,7 @@ signals:
     void buttonActionTriggered(int action);
 
 protected:
+    void    _setDefaultCalibration(void);
     void    _saveSettings(void);
     void    _loadSettings(void);
     float   _adjustRange(int value, Calibration_t calibration, bool withDeadbands);
@@ -157,6 +170,9 @@ private:
     virtual int _getAxis(int i) = 0;
     virtual uint8_t _getHat(int hat,int i) = 0;
 
+    int _mapFunctionMode(int mode, int function);
+    void _remapAxes(int currentMode, int newMode, int (&newMapping)[maxFunction]);
+
     // Override from QThread
     virtual void run(void);
 
@@ -172,6 +188,7 @@ protected:
     int     _hatButtonCount;
     int     _totalButtonCount;
 
+    static int          _transmitterMode;
     CalibrationMode_t   _calibrationMode;
 
     int*                _rgAxisValues;
@@ -203,6 +220,15 @@ private:
     static const char* _exponentialSettingsKey;
     static const char* _accumulatorSettingsKey;
     static const char* _deadbandSettingsKey;
+    static const char* _txModeSettingsKey;
+    static const char* _fixedWingTXModeSettingsKey;
+    static const char* _multiRotorTXModeSettingsKey;
+    static const char* _roverTXModeSettingsKey;
+    static const char* _vtolTXModeSettingsKey;
+    static const char* _submarineTXModeSettingsKey;
+
+private slots:
+    void _activeVehicleChanged(Vehicle* activeVehicle);
 };
 
 #endif

src/Joystick/JoystickSDL.cc

@@ -10,6 +10,7 @@ JoystickSDL::JoystickSDL(const QString& name, int axisCount, int buttonCount, in
     , _isGameController(isGameController)
     , _index(index)
 {
+    if(_isGameController) _setDefaultCalibration();
 }
 
 QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicleManager) {

src/Joystick/JoystickSDL.h

@@ -14,6 +14,9 @@ public:
 
     static QMap<QString, Joystick*> discover(MultiVehicleManager* _multiVehicleManager);
 
+    // This can be uncommented to hide the calibration buttons for gamecontrollers in the future
+    // bool requiresCalibration(void) final { return !_isGameController; }
+
 private:
     static void _loadGameControllerMappings();
 

src/VehicleSetup/JoystickConfig.qml

@@ -176,7 +176,7 @@ SetupPage {
                         QGCLabel {
                             id:     rollLabel
                             width:  defaultTextWidth * 10
-                            text:   qsTr("Roll")
+                            text:   _activeVehicle.sub ? qsTr("Lateral") : qsTr("Roll")
                         }
 
                         Loader {
@@ -208,7 +208,7 @@ SetupPage {
                         QGCLabel {
                             id:     pitchLabel
                             width:  defaultTextWidth * 10
-                            text:   qsTr("Pitch")
+                            text:   _activeVehicle.sub ? qsTr("Forward") : qsTr("Pitch")
                         }
 
                         Loader {
@@ -302,6 +302,7 @@ SetupPage {
                 // Command Buttons
                 Row {
                     spacing: 10
+                    visible: _activeJoystick.requiresCalibration
 
                     QGCButton {
                         id:     skipButton
@@ -643,12 +644,57 @@ SetupPage {
                 id:             rightColumn
                 anchors.top:    parent.top
                 anchors.right:  parent.right
-                width:          defaultTextWidth * 35
-                spacing:        10
+                width:          Math.min(joystickPage.defaultTextWidth * 35, availableWidth * 0.4)
+                spacing:        ScreenTools.defaultFontPixelHeight / 2
+
+                Row {
+                    spacing: ScreenTools.defaultFontPixelWidth
+
+                    ExclusiveGroup { id: modeGroup }
+
+                    QGCLabel {
+                        text: "TX Mode:"
+                    }
+
+                    QGCRadioButton {
+                        exclusiveGroup: modeGroup
+                        text:           "1"
+                        checked:        controller.transmitterMode == 1
+                        enabled:        !controller.calibrating
+
+                        onClicked: controller.transmitterMode = 1
+                    }
+
+                    QGCRadioButton {
+                        exclusiveGroup: modeGroup
+                        text:           "2"
+                        checked:        controller.transmitterMode == 2
+                        enabled:        !controller.calibrating
+
+                        onClicked: controller.transmitterMode = 2
+                    }
+
+                    QGCRadioButton {
+                        exclusiveGroup: modeGroup
+                        text:           "3"
+                        checked:        controller.transmitterMode == 3
+                        enabled:        !controller.calibrating
+
+                        onClicked: controller.transmitterMode = 3
+                    }
+
+                    QGCRadioButton {
+                        exclusiveGroup: modeGroup
+                        text:           "4"
+                        checked:        controller.transmitterMode == 4
+                        enabled:        !controller.calibrating
+
+                        onClicked: controller.transmitterMode = 4
+                    }
+                }
 
                 Image {
-                    //width:      parent.width
-                    height:     defaultTextHeight * 15
+                    width:      parent.width
                     fillMode:   Image.PreserveAspectFit
                     smooth:     true
                     source:     controller.imageHelp

src/VehicleSetup/JoystickConfigController.cc

@@ -29,8 +29,11 @@ const int JoystickConfigController::_calMinDelta =          1000;       ///< Amo
 
 const int JoystickConfigController::_stickDetectSettleMSecs = 500;
 
-const char*  JoystickConfigController::_imageFilePrefix =   "calibration/";
-const char*  JoystickConfigController::_imageFileMode2Dir = "joystick/";
+const char*  JoystickConfigController::_imageFilePrefix =   "calibration/joystick/";
+const char*  JoystickConfigController::_imageFileMode1Dir = "mode1/";
+const char*  JoystickConfigController::_imageFileMode2Dir = "mode2/";
+const char*  JoystickConfigController::_imageFileMode3Dir = "mode3/";
+const char*  JoystickConfigController::_imageFileMode4Dir = "mode4/";
 const char*  JoystickConfigController::_imageCenter =       "joystickCenter.png";
 const char*  JoystickConfigController::_imageThrottleUp =   "joystickThrottleUp.png";
 const char*  JoystickConfigController::_imageThrottleDown = "joystickThrottleDown.png";
@@ -43,6 +46,7 @@ const char*  JoystickConfigController::_imagePitchDown =    "joystickPitchDown.p
 
 JoystickConfigController::JoystickConfigController(void)
     : _activeJoystick(NULL)
+    , _transmitterMode(2)
     , _currentStep(-1)
     , _axisCount(0)
     , _rgAxisInfo(NULL)
@@ -496,6 +500,8 @@ void JoystickConfigController::_setInternalCalibrationValuesFromSettings(void)
         _rgAxisInfo[paramAxis].function = (Joystick::AxisFunction_t)function;
     }
 
+    _transmitterMode = joystick->getTXMode();
+    
     _signalAllAttiudeValueChanges();
 }
 
@@ -591,6 +597,7 @@ void JoystickConfigController::_startCalibration(void)
     
     _currentStep = 0;
     _setupCurrentState();
+    emit calibratingChanged();
 }
 
 /// @brief Cancels the calibration process, setting things back to initial state.
@@ -609,6 +616,7 @@ void JoystickConfigController::_stopCalibration(void)
     _skipButton->setEnabled(false);
     
     _setHelpImage(_imageCenter);
+    emit calibratingChanged();
 }
 
 /// @brief Saves the current axis values, so that we can detect when the use moves an input.
@@ -642,7 +650,23 @@ void JoystickConfigController::_setHelpImage(const char* imageFile)
 {
     QString file = _imageFilePrefix;
     
+    switch(_transmitterMode) {
+    case 1:
+        file += _imageFileMode1Dir;
+        break;
+    case 2:
         file += _imageFileMode2Dir;
+        break;
+    case 3:
+        file += _imageFileMode3Dir;
+        break;
+    case 4:
+        file += _imageFileMode4Dir;
+        break;
+    default:
+        Q_ASSERT(false);
+    }
+
     file += imageFile;
     
     qCDebug(JoystickConfigControllerLog) << "_setHelpImage" << file;
@@ -784,6 +808,20 @@ bool JoystickConfigController::throttleAxisReversed(void)
     }
 }
 
+void JoystickConfigController::setTransmitterMode(int mode)
+{
+    if (mode > 0 && mode <= 4) {
+        _transmitterMode = mode;
+        if (_currentStep != -1) { // This should never be true, mode selection is disabled during calibration
+            const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
+            _setHelpImage(state->image);
+        } else {
+            _activeJoystick->setTXMode(mode);
+            _setInternalCalibrationValuesFromSettings();
+        }
+    }
+}
+
 void JoystickConfigController::_signalAllAttiudeValueChanges(void)
 {
     emit rollAxisMappedChanged(rollAxisMapped());
@@ -800,6 +838,8 @@ void JoystickConfigController::_signalAllAttiudeValueChanges(void)
     emit pitchAxisDeadbandChanged(pitchAxisDeadband());
     emit yawAxisDeadbandChanged(yawAxisDeadband());
     emit throttleAxisDeadbandChanged(throttleAxisDeadband());
+
+    emit transmitterModeChanged(_transmitterMode);
 }
 
 void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)

src/VehicleSetup/JoystickConfigController.h

@@ -69,7 +69,9 @@ public:
     
     Q_PROPERTY(bool deadbandToggle            READ getDeadbandToggle        WRITE setDeadbandToggle    NOTIFY deadbandToggled)
 
+    Q_PROPERTY(int transmitterMode READ transmitterMode WRITE setTransmitterMode NOTIFY transmitterModeChanged)
     Q_PROPERTY(QString imageHelp MEMBER _imageHelp NOTIFY imageHelpChanged)
+    Q_PROPERTY(bool calibrating READ calibrating NOTIFY calibratingChanged)
     
     Q_INVOKABLE void cancelButtonClicked(void);
     Q_INVOKABLE void skipButtonClicked(void);
@@ -101,6 +103,11 @@ public:
 
     int axisCount(void);
 
+    int transmitterMode(void) { return _transmitterMode; }
+    void setTransmitterMode(int mode);
+
+    bool calibrating(void) { return _currentStep != -1; }
+    
 signals:
     void axisValueChanged(int axis, int value);
 
@@ -127,6 +134,8 @@ signals:
     void deadbandToggled(bool value);
     
     void imageHelpChanged(QString source);
+    void transmitterModeChanged(int mode);
+    void calibratingChanged(void);
     
     // @brief Signalled when in unit test mode and a message box should be displayed by the next button
     void nextButtonMessageBoxDisplayed(void);
@@ -172,6 +181,7 @@ private:
     
     Joystick* _activeJoystick;
     
+    int _transmitterMode;
     int _currentStep;  ///< Current step of state machine
     
     const struct stateMachineEntry* _getStateMachineEntry(int step);
@@ -211,7 +221,10 @@ private:
     
     // Member variables
 
+    static const char* _imageFileMode1Dir;
     static const char* _imageFileMode2Dir;
+    static const char* _imageFileMode3Dir;
+    static const char* _imageFileMode4Dir;
     static const char* _imageFilePrefix;
     static const char* _imageCenter;
     static const char* _imageThrottleUp;