Extended RC config to 18 channels, dealing with multi-port messages

src/uas/UAS.cc

@@ -1002,14 +1002,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_rc_channels_raw_t channels;
             mavlink_msg_rc_channels_raw_decode(&message, &channels);
             emit remoteControlRSSIChanged(channels.rssi/255.0f);
-            emit remoteControlChannelRawChanged(0, channels.chan1_raw);
-            emit remoteControlChannelRawChanged(1, channels.chan2_raw);
-            emit remoteControlChannelRawChanged(2, channels.chan3_raw);
-            emit remoteControlChannelRawChanged(3, channels.chan4_raw);
-            emit remoteControlChannelRawChanged(4, channels.chan5_raw);
-            emit remoteControlChannelRawChanged(5, channels.chan6_raw);
-            emit remoteControlChannelRawChanged(6, channels.chan7_raw);
-            emit remoteControlChannelRawChanged(7, channels.chan8_raw);
+            emit remoteControlChannelRawChanged(channels.port + 0, channels.chan1_raw);
+            emit remoteControlChannelRawChanged(channels.port + 1, channels.chan2_raw);
+            emit remoteControlChannelRawChanged(channels.port + 2, channels.chan3_raw);
+            emit remoteControlChannelRawChanged(channels.port + 3, channels.chan4_raw);
+            emit remoteControlChannelRawChanged(channels.port + 4, channels.chan5_raw);
+            emit remoteControlChannelRawChanged(channels.port + 5, channels.chan6_raw);
+            emit remoteControlChannelRawChanged(channels.port + 6, channels.chan7_raw);
+            emit remoteControlChannelRawChanged(channels.port + 7, channels.chan8_raw);
         }
             break;
         case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:

src/ui/MAVLinkDecoder.cc

@@ -30,6 +30,7 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
     messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
     messageFilter.insert(MAVLINK_MSG_ID_DATA_STREAM, false);
     messageFilter.insert(MAVLINK_MSG_ID_GPS_STATUS, false);
+    messageFilter.insert(MAVLINK_MSG_ID_RC_CHANNELS_RAW, false);
     #ifdef MAVLINK_MSG_ID_ENCAPSULATED_DATA
     messageFilter.insert(MAVLINK_MSG_ID_ENCAPSULATED_DATA, false);
     #endif
@@ -240,6 +241,30 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         name = QString(buf);
         time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
     }
+    else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_RAW)
+    {
+        // XXX this is really ugly, but we do not know a better way to do this
+        mavlink_rc_channels_raw_t raw;
+        mavlink_msg_rc_channels_raw_decode(msg, &raw);
+        name = name.arg(messageInfo[msgid].name).arg(fieldName);
+        name.prepend(QString("port%1_").arg(raw.port));
+    }
+    else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_SCALED)
+    {
+        // XXX this is really ugly, but we do not know a better way to do this
+        mavlink_rc_channels_scaled_t scaled;
+        mavlink_msg_rc_channels_scaled_decode(msg, &scaled);
+        name = name.arg(messageInfo[msgid].name).arg(fieldName);
+        name.prepend(QString("port%1_").arg(scaled.port));
+    }
+    else if (msgid == MAVLINK_MSG_ID_SERVO_OUTPUT_RAW)
+    {
+        // XXX this is really ugly, but we do not know a better way to do this
+        mavlink_servo_output_raw_t servo;
+        mavlink_msg_rc_channels_scaled_decode(msg, &servo);
+        name = name.arg(messageInfo[msgid].name).arg(fieldName);
+        name.prepend(QString("port%1_").arg(servo.port));
+    }
     else
     {
         name = name.arg(messageInfo[msgid].name).arg(fieldName);

src/ui/QGCPX4VehicleConfig.cc

@@ -127,6 +127,26 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     ui->radio7Widget->setName("Radio 7");
     ui->radio8Widget->setOrientation(Qt::Horizontal);
     ui->radio8Widget->setName("Radio 8");
+    ui->radio9Widget->setOrientation(Qt::Horizontal);
+    ui->radio9Widget->setName("Radio 9");
+    ui->radio10Widget->setOrientation(Qt::Horizontal);
+    ui->radio10Widget->setName("Radio 10");
+    ui->radio11Widget->setOrientation(Qt::Horizontal);
+    ui->radio11Widget->setName("Radio 11");
+    ui->radio12Widget->setOrientation(Qt::Horizontal);
+    ui->radio12Widget->setName("Radio 12");
+    ui->radio13Widget->setOrientation(Qt::Horizontal);
+    ui->radio13Widget->setName("Radio 13");
+    ui->radio14Widget->setOrientation(Qt::Horizontal);
+    ui->radio14Widget->setName("Radio 14");
+    ui->radio15Widget->setOrientation(Qt::Horizontal);
+    ui->radio15Widget->setName("Radio 15");
+    ui->radio16Widget->setOrientation(Qt::Horizontal);
+    ui->radio16Widget->setName("Radio 16");
+    ui->radio17Widget->setOrientation(Qt::Horizontal);
+    ui->radio17Widget->setName("Radio 17");
+    ui->radio18Widget->setOrientation(Qt::Horizontal);
+    ui->radio18Widget->setName("Radio 18");
 
     connect(ui->rcMenuButton,SIGNAL(clicked()),
             this,SLOT(rcMenuButtonClicked()));
@@ -488,6 +508,16 @@ void QGCPX4VehicleConfig::startCalibrationRC()
     ui->radio6Widget->showMinMax();
     ui->radio7Widget->showMinMax();
     ui->radio8Widget->showMinMax();
+    ui->radio9Widget->showMinMax();
+    ui->radio10Widget->showMinMax();
+    ui->radio11Widget->showMinMax();
+    ui->radio12Widget->showMinMax();
+    ui->radio13Widget->showMinMax();
+    ui->radio14Widget->showMinMax();
+    ui->radio15Widget->showMinMax();
+    ui->radio16Widget->showMinMax();
+    ui->radio17Widget->showMinMax();
+    ui->radio18Widget->showMinMax();
 
     QMessageBox::information(0, tr("Information"), tr("Please click on the <Finish RC Calibration> button once finished"));
 }
@@ -516,6 +546,16 @@ void QGCPX4VehicleConfig::stopCalibrationRC()
     ui->radio6Widget->hideMinMax();
     ui->radio7Widget->hideMinMax();
     ui->radio8Widget->hideMinMax();
+    ui->radio9Widget->hideMinMax();
+    ui->radio10Widget->hideMinMax();
+    ui->radio11Widget->hideMinMax();
+    ui->radio12Widget->hideMinMax();
+    ui->radio13Widget->hideMinMax();
+    ui->radio14Widget->hideMinMax();
+    ui->radio15Widget->hideMinMax();
+    ui->radio16Widget->hideMinMax();
+    ui->radio17Widget->hideMinMax();
+    ui->radio18Widget->hideMinMax();
 
     for (unsigned int i = 0; i < chanCount; i++) {
         if (rcMin[i] > 1350) {
@@ -1517,6 +1557,36 @@ void QGCPX4VehicleConfig::updateMappingView(int function_index)
         case 7:
             ui->radio8Widget->setName(tr("%1 (#8)").arg(assignments[7]));
             break;
+        case 8:
+            ui->radio9Widget->setName(tr("%1 (#9)").arg(assignments[8]));
+            break;
+        case 9:
+            ui->radio10Widget->setName(tr("%1 (#10)").arg(assignments[9]));
+            break;
+        case 10:
+            ui->radio11Widget->setName(tr("%1 (#11)").arg(assignments[10]));
+            break;
+        case 11:
+            ui->radio12Widget->setName(tr("%1 (#12)").arg(assignments[11]));
+            break;
+        case 12:
+            ui->radio13Widget->setName(tr("%1 (#13)").arg(assignments[12]));
+            break;
+        case 13:
+            ui->radio14Widget->setName(tr("%1 (#14)").arg(assignments[13]));
+            break;
+        case 14:
+            ui->radio15Widget->setName(tr("%1 (#15)").arg(assignments[14]));
+            break;
+        case 15:
+            ui->radio16Widget->setName(tr("%1 (#16)").arg(assignments[15]));
+            break;
+        case 16:
+            ui->radio17Widget->setName(tr("%1 (#17)").arg(assignments[16]));
+            break;
+        case 17:
+            ui->radio18Widget->setName(tr("%1 (#18)").arg(assignments[17]));
+            break;
         }
     }
 }
@@ -1778,6 +1848,16 @@ void QGCPX4VehicleConfig::updateRcWidgetValues()
     ui->radio6Widget->setValueAndRange(rcValueReversed[5],rcMin[5],rcMax[5]);
     ui->radio7Widget->setValueAndRange(rcValueReversed[6],rcMin[6],rcMax[6]);
     ui->radio8Widget->setValueAndRange(rcValueReversed[7],rcMin[7],rcMax[7]);
+    ui->radio9Widget->setValueAndRange(rcValueReversed[8],rcMin[8],rcMax[8]);
+    ui->radio10Widget->setValueAndRange(rcValueReversed[9],rcMin[9],rcMax[9]);
+    ui->radio11Widget->setValueAndRange(rcValueReversed[10],rcMin[10],rcMax[10]);
+    ui->radio12Widget->setValueAndRange(rcValueReversed[11],rcMin[11],rcMax[11]);
+    ui->radio13Widget->setValueAndRange(rcValueReversed[12],rcMin[12],rcMax[12]);
+    ui->radio14Widget->setValueAndRange(rcValueReversed[13],rcMin[13],rcMax[13]);
+    ui->radio15Widget->setValueAndRange(rcValueReversed[14],rcMin[14],rcMax[14]);
+    ui->radio16Widget->setValueAndRange(rcValueReversed[15],rcMin[15],rcMax[15]);
+    ui->radio17Widget->setValueAndRange(rcValueReversed[16],rcMin[16],rcMax[16]);
+    ui->radio18Widget->setValueAndRange(rcValueReversed[17],rcMin[17],rcMax[17]);
 }
 
 void QGCPX4VehicleConfig::updateRcChanLabels()

src/ui/QGCPX4VehicleConfig.h

@@ -277,7 +277,7 @@ protected:
     bool doneLoadingConfig;
     UASInterface* mav;                  ///< The current MAV
     QGCUASParamManagerInterface* paramMgr;       ///< params mgr for the mav
-    static const unsigned int chanMax = 14;    ///< Maximum number of channels
+    static const unsigned int chanMax = 18;    ///< Maximum number of channels
     static const unsigned int chanMappedMax = 16; ///< Maximum number of mapped channels (can be higher than input channel count)
     unsigned int chanCount;               ///< Actual channels
     float rcMin[chanMax];                 ///< Minimum values