radio cal data now passed properly via mavlink

src/comm/OpalLink.cc

@@ -142,7 +142,7 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
         	this->sendRCValues = static_cast<bool>(rc.enabled);
         }
         break;
-#ifdef MAVLINK_ENABLE_UALBERTA_MESSAGES
+#ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
         case MAVLINK_MSG_ID_RADIO_CALIBRATION:
         {
             mavlink_radio_calibration_t radio;

src/ui/QGCRemoteControlView.cc

@@ -110,7 +110,7 @@ void QGCRemoteControlView::setUASId(int id)
         // New UAS exists, connect
         nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
         calibrationWindow->setUASId(id);
-        connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
+        connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
         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/RadioCalibration/AbstractCalibrator.h

@@ -16,6 +16,8 @@ public:
     ~AbstractCalibrator();
 
     virtual void set(const QVector<float>& data)=0;
+signals:
+    void setpointChanged(int index, float value);
 
 public slots:
     void channelChanged(float raw);

src/ui/RadioCalibration/AirfoilServoCalibrator.cc

@@ -91,19 +91,19 @@ AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent
 void AirfoilServoCalibrator::setHigh()
 {
     highPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
-    emit highSetpointChanged(logExtrema());
+    emit setpointChanged(2, logExtrema());
 }
 
 void AirfoilServoCalibrator::setCenter()
 {
     centerPulseWidth->setText(QString::number(static_cast<double>(logAverage())));
-    emit centerSetpointChanged(logAverage());
+    emit setpointChanged(1, logAverage());
 }
 
 void AirfoilServoCalibrator::setLow()
 {
     lowPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
-    emit lowSetpointChanged(logExtrema());
+    emit setpointChanged(0, logExtrema());
 }
 
 void AirfoilServoCalibrator::set(const QVector<float> &data)

src/ui/RadioCalibration/AirfoilServoCalibrator.h

@@ -26,10 +26,10 @@ public:
     /** @param data must have exaclty 3 elemets.  they are assumed to be low center high */
     void set(const QVector<float>& data);
 
-signals:
-    void highSetpointChanged(float);
-    void centerSetpointChanged(float);
-    void lowSetpointChanged(float);
+//signals:
+//    void highSetpointChanged(float);
+//    void centerSetpointChanged(float);
+//    void lowSetpointChanged(float);
 
 protected slots:
     void setHigh();

src/ui/RadioCalibration/CurveCalibrator.h

@@ -25,8 +25,8 @@ public:
     ~CurveCalibrator();
 
     void set(const QVector<float> &data);
-signals:
-    void setpointChanged(int setpoint, float raw);    
+//signals:
+//    void setpointChanged(int setpoint, float raw);
 
 protected slots:
     void setSetpoint(int setpoint);

src/ui/RadioCalibration/RadioCalibrationData.cc

@@ -2,7 +2,13 @@
 
 RadioCalibrationData::RadioCalibrationData()
 {
-    data = new QVector<QVector<float> >();
+    data = new QVector<QVector<float> >(6);
+    (*data).insert(AILERON, QVector<float>(3));
+    (*data).insert(ELEVATOR, QVector<float>(3));
+    (*data).insert(RUDDER, QVector<float>(3));
+    (*data).insert(GYRO, QVector<float>(2));
+    (*data).insert(PITCH, QVector<float>(5));
+    (*data).insert(THROTTLE, QVector<float>(5));
 }
 
 RadioCalibrationData::RadioCalibrationData(const QVector<float> &aileron,
@@ -45,5 +51,5 @@ 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>();
+//    return QVector<float>();
 }

src/ui/RadioCalibration/RadioCalibrationData.h

@@ -30,12 +30,21 @@ public:
         THROTTLE
     };
 
-    void loadFile();
-    void saveFile();
-    void send();
-    void receive();
+//    void loadFile();
+//    void saveFile();
+//    void send();
+//    void receive();
     const float* operator[](int i) const;
     const QVector<float>& operator()(int i) const;
+    void set(int element, int index, float value) {(*data)[element][index] = value;}
+
+public slots:
+    void setAileron(int index, float value) {set(AILERON, index, value);}
+    void setElevator(int index, float value) {set(ELEVATOR, index, value);}
+    void setRudeer(int index, float value) {set(RUDDER, index, value);}
+    void setGyro(int index, float value) {set(GYRO, index, value);}
+    void setPitch(int index, float value) {set(PITCH, index, value);}
+    void setThrottle(int index, float value) {set(THROTTLE, index, value);}
 
 protected:
     QVector<QVector<float> > *data;

src/ui/RadioCalibration/RadioCalibrationWindow.cc

@@ -43,6 +43,7 @@ RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
     connect(transmit, SIGNAL(clicked()), this, SLOT(send()));
     connect(get, SIGNAL(clicked()), this, SLOT(request()));
 
+    connect(aileron, SIGNAL(setpointChanged(int,float)), radio, SLOT(setAileron(int,float)));
 
     setUASId(0);
 }
@@ -94,7 +95,6 @@ void RadioCalibrationWindow::send()
     UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
     if (uas)
     {
-        qDebug()<< "we have a uas";
         mavlink_message_t msg;
         mavlink_msg_radio_calibration_pack(uasId, 0, &msg,
                                            (*radio)[RadioCalibrationData::AILERON],

src/ui/RadioCalibration/RadioCalibrationWindow.h

@@ -50,6 +50,7 @@ protected:
         CurveCalibrator *throttle;
         int uasId;
         QPointer<RadioCalibrationData> radio;
+        QSignalMapper mapper;
 };
 
 #endif // RADIOCALIBRATIONWINDOW_H

src/ui/RadioCalibration/SwitchCalibrator.cc

@@ -39,13 +39,13 @@ SwitchCalibrator::SwitchCalibrator(QString titleString, QWidget *parent) :
 void SwitchCalibrator::setDefault()
 {
     defaultPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
-    emit defaultSetpointChanged(logExtrema());
+    emit setpointChanged(0, logExtrema());
 }
 
 void SwitchCalibrator::setToggled()
 {
     toggledPulseWidth->setText(QString::number(static_cast<double>(logExtrema())));
-    emit toggledSetpointChanged(logExtrema());
+    emit setpointChanged(1, logExtrema());
 }
 
 void SwitchCalibrator::set(const QVector<float> &data)

src/ui/RadioCalibration/SwitchCalibrator.h

@@ -17,9 +17,9 @@ public:
     explicit SwitchCalibrator(QString title=QString(), QWidget *parent = 0);
 
     void set(const QVector<float> &data);
-signals:
-    void defaultSetpointChanged(float);
-    void toggledSetpointChanged(float);
+//signals:
+//    void defaultSetpointChanged(float);
+//    void toggledSetpointChanged(float);
 
 protected slots:
     void setDefault();