// On Windows (for VS2010) stdint.h contains the limits normally contained in limits.h
// It also needs the __STDC_LIMIT_MACROS macro defined in order to include them (done
// in qgroundcontrol.pri).
#ifdef WIN32
#include <stdint.h>
#else
#include <limits.h>
#endif

#include <QTimer>
#include <QDir>
#include <QXmlStreamReader>
#include <QMessageBox>

#include "QGCVehicleConfig.h"
#include "UASManager.h"
#include "QGC.h"
#include "QGCToolWidget.h"
#include "ui_QGCVehicleConfig.h"

QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
    QWidget(parent),
    mav(NULL),
    chanCount(0),
    rcRoll(0.0f),
    rcPitch(0.0f),
    rcYaw(0.0f),
    rcThrottle(0.0f),
    rcMode(0.0f),
    rcAux1(0.0f),
    rcAux2(0.0f),
    rcAux3(0.0f),
    changed(true),
    rc_mode(RC_MODE_NONE),
    calibrationEnabled(false),
    ui(new Ui::QGCVehicleConfig)
{
    doneLoadingConfig = false;
    systemTypeToParamMap["FIXED_WING"] = new QMap<QString,QGCToolWidget*>();
    systemTypeToParamMap["QUADROTOR"] = new QMap<QString,QGCToolWidget*>();
    systemTypeToParamMap["GROUND_ROVER"] = new QMap<QString,QGCToolWidget*>();
    systemTypeToParamMap["BOAT"] = new QMap<QString,QGCToolWidget*>();
    libParamToWidgetMap = new QMap<QString,QGCToolWidget*>();

    setObjectName("QGC_VEHICLECONFIG");
    ui->setupUi(this);

    ui->rollWidget->setOrientation(Qt::Horizontal);
    ui->rollWidget->setName("Roll");
    ui->yawWidget->setOrientation(Qt::Horizontal);
    ui->yawWidget->setName("Yaw");
    ui->pitchWidget->setName("Pitch");
    ui->throttleWidget->setName("Throttle");
    ui->radio5Widget->setOrientation(Qt::Horizontal);
    ui->radio5Widget->setName("Radio 5");
    ui->radio6Widget->setOrientation(Qt::Horizontal);
    ui->radio6Widget->setName("Radio 6");
    ui->radio7Widget->setOrientation(Qt::Horizontal);
    ui->radio7Widget->setName("Radio 7");
    ui->radio8Widget->setOrientation(Qt::Horizontal);
    ui->radio8Widget->setName("Radio 8");

    connect(ui->rcMenuButton,SIGNAL(clicked()),this,SLOT(rcMenuButtonClicked()));
    connect(ui->sensorMenuButton,SIGNAL(clicked()),this,SLOT(sensorMenuButtonClicked()));
    connect(ui->generalMenuButton,SIGNAL(clicked()),this,SLOT(generalMenuButtonClicked()));
    connect(ui->advancedMenuButton,SIGNAL(clicked()),this,SLOT(advancedMenuButtonClicked()));

    ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);

    ui->rcCalibrationButton->setCheckable(true);
    connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
    connect(ui->setButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
    connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
    //connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));

    /* Connect RC mapping assignments */
    connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
    connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
    connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
    connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
    connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
    connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
    connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
    connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(int)));

    // Connect RC reverse assignments
    connect(ui->invertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setRollInverted(bool)));
    connect(ui->invertCheckBox_2, SIGNAL(clicked(bool)), this, SLOT(setPitchInverted(bool)));
    connect(ui->invertCheckBox_3, SIGNAL(clicked(bool)), this, SLOT(setYawInverted(bool)));
    connect(ui->invertCheckBox_4, SIGNAL(clicked(bool)), this, SLOT(setThrottleInverted(bool)));
    connect(ui->invertCheckBox_5, SIGNAL(clicked(bool)), this, SLOT(setModeInverted(bool)));
    connect(ui->invertCheckBox_6, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
    connect(ui->invertCheckBox_7, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
    connect(ui->invertCheckBox_8, SIGNAL(clicked(bool)), this, SLOT(setAux3Inverted(bool)));

    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

    setActiveUAS(UASManager::instance()->getActiveUAS());

    for (unsigned int i = 0; i < chanMax; i++)
    {
        rcValue[i] = UINT16_MAX;
        rcMapping[i] = i;
    }

    updateTimer.setInterval(150);
    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
    updateTimer.start();

    ui->advancedGroupBox->hide();
    connect(ui->advancedCheckBox,SIGNAL(toggled(bool)),ui->advancedGroupBox,SLOT(setShown(bool)));
}
void QGCVehicleConfig::rcMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(0);
}

void QGCVehicleConfig::sensorMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(1);
}

void QGCVehicleConfig::generalMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-2);
}

void QGCVehicleConfig::advancedMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-1);
}

QGCVehicleConfig::~QGCVehicleConfig()
{
    delete ui;
}

void QGCVehicleConfig::setRCModeIndex(int newRcMode)
{
    if (newRcMode > 0 && newRcMode < 6)
    {
        //rc_mode = (enum RC_MODE) (newRcMode+1);
        changed = true;
    }
}

void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
{
    if (enabled)
    {
        startCalibrationRC();
    }
    else
    {
        stopCalibrationRC();
    }
}

void QGCVehicleConfig::setTrimPositions()
{
    // Set trim to min if stick is close to min
    if (abs(rcValue[rcMapping[3]] - rcMin[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMin[rcMapping[3]];   // throttle
    }
    // Set trim to max if stick is close to max
    else if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMax[rcMapping[3]];   // throttle
    }
    else
    {

        // Reject
        QMessageBox msgBox;
        msgBox.setText(tr("Throttle Stick Trim Position Invalid"));
        msgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        (void)msgBox.exec();
    }

    // Set trim for roll, pitch, yaw, throttle
    rcTrim[rcMapping[0]] = rcValue[rcMapping[0]]; // roll
    rcTrim[rcMapping[1]] = rcValue[rcMapping[1]]; // pitch
    rcTrim[rcMapping[2]] = rcValue[rcMapping[2]]; // yaw

    rcTrim[rcMapping[4]] = ((rcMax[rcMapping[4]] - rcMin[rcMapping[4]]) / 2.0f) + rcMin[rcMapping[4]];   // mode sw
    rcTrim[rcMapping[5]] = ((rcMax[rcMapping[5]] - rcMin[rcMapping[5]]) / 2.0f) + rcMin[rcMapping[5]];   // aux 1
    rcTrim[rcMapping[6]] = ((rcMax[rcMapping[6]] - rcMin[rcMapping[6]]) / 2.0f) + rcMin[rcMapping[6]];   // aux 2
    rcTrim[rcMapping[7]] = ((rcMax[rcMapping[7]] - rcMin[rcMapping[7]]) / 2.0f) + rcMin[rcMapping[7]];   // aux 3
}

void QGCVehicleConfig::detectChannelInversion()
{

}

void QGCVehicleConfig::startCalibrationRC()
{
    QMessageBox::information(0,"Warning!","You are about to start radio calibration.\nPlease ensure all motor power is disconnected AND all props are removed from the vehicle.\nAlso ensure transmitter and reciever are powered and connected\n\nClick OK to confirm");
    QMessageBox::information(0,"Information","Click OK, then move all sticks to their extreme positions, watching the min/max values to ensure you get the most range from your controller. This includes all switches");
    ui->rcTypeComboBox->setEnabled(false);
    ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
    resetCalibrationRC();
    calibrationEnabled = true;
    ui->rollWidget->showMinMax();
    ui->pitchWidget->showMinMax();
    ui->yawWidget->showMinMax();
    ui->throttleWidget->showMinMax();
    ui->radio5Widget->showMinMax();
    ui->radio6Widget->showMinMax();
    ui->radio7Widget->showMinMax();
    ui->radio8Widget->showMinMax();
}

void QGCVehicleConfig::stopCalibrationRC()
{
    QMessageBox::information(0,"Trims","Ensure all sticks are centeres and throttle is in the downmost position, click OK to continue");
    calibrationEnabled = false;
    ui->rcTypeComboBox->setEnabled(true);
    ui->rcCalibrationButton->setText(tr("Start RC Calibration"));
    ui->rollWidget->hideMinMax();
    ui->pitchWidget->hideMinMax();
    ui->yawWidget->hideMinMax();
    ui->throttleWidget->hideMinMax();
    ui->radio5Widget->hideMinMax();
    ui->radio6Widget->hideMinMax();
    ui->radio7Widget->hideMinMax();
    ui->radio8Widget->hideMinMax();
    QString statusstr;
    statusstr = "Below you will find the detected radio calibration information that will be sent to the autopilot\n";
    statusstr += "Normal values are around 1100 to 1900, with disconnected channels reading very close to 1500\n\n";
    statusstr += "Channel\tMin\tCenter\tMax\n";
    statusstr += "--------------------\n";
    for (int i=0;i<8;i++)
    {
        statusstr += QString::number(i) + "\t" + QString::number(rcMin[i]) + "\t" + QString::number(rcValue[i]) + "\t" + QString::number(rcMax[i]) + "\n";
    }
    QMessageBox::information(0,"Status",statusstr);
}

void QGCVehicleConfig::loadQgcConfig(bool primary)
{
    Q_UNUSED(primary);
    QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
    QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
    QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
    if (!autopilotdir.exists("general"))
    {
     //TODO: Throw some kind of error here. There is no general configuration directory
        qWarning() << "Invalid general dir. no general configuration will be loaded.";
    }
    if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
    {
        //TODO: Throw an error here too, no autopilot specific configuration
        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
    }
    QGCToolWidget *tool;
    bool left = true;
    foreach (QString file,generaldir.entryList(QDir::Files | QDir::NoDotAndDotDot))
    {
        if (file.toLower().endsWith(".qgw")) {
            tool = new QGCToolWidget("", this);
            if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
            {
                toolWidgets.append(tool);
                //ui->sensorLayout->addWidget(tool);
                QGroupBox *box = new QGroupBox(this);
                box->setTitle(tool->objectName());
                box->setLayout(new QVBoxLayout());
                box->layout()->addWidget(tool);
                if (left)
                {
                    left = false;
                    ui->leftGeneralLayout->addWidget(box);
                }
                else
                {
                    left = true;
                    ui->rightGeneralLayout->addWidget(box);
                }
            } else {
                delete tool;
            }
        }
    }
    left = true;
    foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
    {
        if (file.toLower().endsWith(".qgw")) {
            tool = new QGCToolWidget("", this);
            if (tool->loadSettings(vehicledir.absoluteFilePath(file), false))
            {
                toolWidgets.append(tool);
                //ui->sensorLayout->addWidget(tool);
                QGroupBox *box = new QGroupBox(this);
                box->setTitle(tool->objectName());
                box->setLayout(new QVBoxLayout());
                box->layout()->addWidget(tool);
                if (left)
                {
                    left = false;
                    ui->leftAdvancedLayout->addWidget(box);
                }
                else
                {
                    left = true;
                    ui->rightAdvancedLayout->addWidget(box);
                }
            } else {
                delete tool;
            }
        }
    }

    //Load tabs for general configuration
    foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
    {
        QPushButton *button = new QPushButton(ui->scrollAreaWidgetContents_3);
        connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
        ui->navBarLayout->insertWidget(2,button);
        button->setMinimumHeight(75);
        button->setMinimumWidth(100);
        button->show();
        button->setText(dir);
        //QWidget *tab = new QWidget(ui->tabWidget);
        //ui->tabWidget->insertTab(2,tab,dir);
        QWidget *tab = new QWidget(ui->stackedWidget);
        ui->stackedWidget->insertWidget(2,tab);
        buttonToWidgetMap[button] = tab;
        tab->setLayout(new QVBoxLayout());
        tab->show();
        QScrollArea *area = new QScrollArea();
        tab->layout()->addWidget(area);
        QWidget *scrollArea = new QWidget();
        scrollArea->setLayout(new QVBoxLayout());
        area->setWidget(scrollArea);
        area->setWidgetResizable(true);
        area->show();
        scrollArea->show();
        QDir newdir = QDir(generaldir.absoluteFilePath(dir));
        foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
        {
            if (file.toLower().endsWith(".qgw")) {
                tool = new QGCToolWidget("", this);
                if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                {
                    toolWidgets.append(tool);
                    //ui->sensorLayout->addWidget(tool);
                    QGroupBox *box = new QGroupBox(this);
                    box->setTitle(tool->objectName());
                    box->setLayout(new QVBoxLayout());
                    box->layout()->addWidget(tool);
                    scrollArea->layout()->addWidget(box);
                } else {
                    delete tool;
                }
            }
        }
    }

    //Load tabs for vehicle specific configuration
    foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
    {
        //QWidget *tab = new QWidget(ui->tabWidget);
        //ui->tabWidget->insertTab(2,tab,dir);
        QPushButton *button = new QPushButton(ui->scrollAreaWidgetContents_3);
        connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
        ui->navBarLayout->insertWidget(2,button);

        QWidget *tab = new QWidget(ui->stackedWidget);
        ui->stackedWidget->insertWidget(2,tab);
        buttonToWidgetMap[button] = tab;

        button->setMinimumHeight(75);
        button->setMinimumWidth(100);
        button->show();
        button->setText(dir);
        tab->setLayout(new QVBoxLayout());
        tab->show();
        QScrollArea *area = new QScrollArea();
        tab->layout()->addWidget(area);
        QWidget *scrollArea = new QWidget();
        scrollArea->setLayout(new QVBoxLayout());
        area->setWidget(scrollArea);
        area->setWidgetResizable(true);
        area->show();
        scrollArea->show();

        QDir newdir = QDir(vehicledir.absoluteFilePath(dir));
        foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
        {
            if (file.toLower().endsWith(".qgw")) {
                tool = new QGCToolWidget("", this);
                tool->addUAS(mav);
                if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                {
                    toolWidgets.append(tool);
                    //ui->sensorLayout->addWidget(tool);
                    QGroupBox *box = new QGroupBox();
                    box->setTitle(tool->objectName());
                    box->setLayout(new QVBoxLayout());
                    box->layout()->addWidget(tool);
                    scrollArea->layout()->addWidget(box);
                    box->show();
                    //gbox->layout()->addWidget(box);
                } else {
                    delete tool;
                }
            }
        }
    }

    // Load calibration
    //TODO: Handle this more gracefully, maybe have it scan the directory for multiple calibration entries?
    tool = new QGCToolWidget("", this);
    tool->addUAS(mav);
    if (tool->loadSettings(autopilotdir.absolutePath() + "/general/calibration/calibration.qgw", false))
    {
        toolWidgets.append(tool);
        QGroupBox *box = new QGroupBox(this);
        box->setTitle(tool->objectName());
        box->setLayout(new QVBoxLayout());
        box->layout()->addWidget(tool);
        ui->sensorLayout->addWidget(box);
    } else {
        delete tool;
    }

    tool = new QGCToolWidget("", this);
    tool->addUAS(mav);
    if (tool->loadSettings(autopilotdir.absolutePath() + "/" +  mav->getSystemTypeName().toLower() + "/calibration/calibration.qgw", false))
    {
        toolWidgets.append(tool);
        QGroupBox *box = new QGroupBox(this);
        box->setTitle(tool->objectName());
        box->setLayout(new QVBoxLayout());
        box->layout()->addWidget(tool);
        ui->sensorLayout->addWidget(box);
    } else {
        delete tool;
    }

    //description.txt
    QFile sensortipsfile(autopilotdir.absolutePath() + "/general/calibration/description.txt");
    sensortipsfile.open(QIODevice::ReadOnly);
    ui->sensorTips->setHtml(sensortipsfile.readAll());
    sensortipsfile.close();
}
void QGCVehicleConfig::menuButtonClicked()
{
    QPushButton *button = qobject_cast<QPushButton*>(sender());
    if (!button)
    {
        return;
    }
    if (buttonToWidgetMap.contains(button))
    {
        ui->stackedWidget->setCurrentWidget(buttonToWidgetMap[button]);
    }

}

void QGCVehicleConfig::loadConfig()
{
    QGCToolWidget* tool;

    QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
    QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
    QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
    if (!autopilotdir.exists("general"))
    {
     //TODO: Throw some kind of error here. There is no general configuration directory
        qWarning() << "Invalid general dir. no general configuration will be loaded.";
    }
    if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
    {
        //TODO: Throw an error here too, no autopilot specific configuration
        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
    }
    qDebug() << autopilotdir.absolutePath();
    qDebug() << generaldir.absolutePath();
    qDebug() << vehicledir.absolutePath();
    QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml");
    if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly))
    {
        loadQgcConfig(false);
        doneLoadingConfig = true;
        return;
    }
    loadQgcConfig(true);

    QXmlStreamReader xml(xmlfile.readAll());
    xmlfile.close();

    //TODO: Testing to ensure that incorrectly formated XML won't break this.
    while (!xml.atEnd())
    {
        if (xml.isStartElement() && xml.name() == "paramfile")
        {
            xml.readNext();
            while ((xml.name() != "paramfile") && !xml.atEnd())
            {
                QString valuetype = "";
                if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop
                {
                    valuetype = xml.name().toString();
                    xml.readNext();
                    while ((xml.name() != valuetype) && !xml.atEnd())
                    {
                        if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block
                        {
                            QString parametersname = "";
                            if (xml.attributes().hasAttribute("name"))
                            {
                                    parametersname = xml.attributes().value("name").toString();
                            }
                            QVariantMap genset;
                            QVariantMap advset;

                            QString setname = parametersname;
                            xml.readNext();
                            int genarraycount = 0;
                            int advarraycount = 0;
                            while ((xml.name() != "parameters") && !xml.atEnd())
                            {
                                if (xml.isStartElement() && xml.name() == "param")
                                {
                                    QString humanname = xml.attributes().value("humanName").toString();
                                    QString name = xml.attributes().value("name").toString();
                                    QString tab= xml.attributes().value("user").toString();
                                    if (tab == "Advanced")
                                    {
                                        advset["title"] = parametersname;
                                    }
                                    else
                                    {
                                        genset["title"] = parametersname;
                                    }
                                    if (name.contains(":"))
                                    {
                                        name = name.split(":")[1];
                                    }
                                    QString docs = xml.attributes().value("documentation").toString();
                                    paramTooltips[name] = name + " - " + docs;

                                    int type = -1; //Type of item
                                    QMap<QString,QString> fieldmap;
                                    xml.readNext();
                                    while ((xml.name() != "param") && !xml.atEnd())
                                    {
                                        if (xml.isStartElement() && xml.name() == "values")
                                        {
                                            type = 1; //1 is a combobox
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "COMBO";
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "COMBO";
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
                                            }
                                            int paramcount = 0;
                                            xml.readNext();
                                            while ((xml.name() != "values") && !xml.atEnd())
                                            {
                                                if (xml.isStartElement() && xml.name() == "value")
                                                {

                                                    QString code = xml.attributes().value("code").toString();
                                                    QString arg = xml.readElementText();
                                                    if (tab == "Advanced")
                                                    {
                                                        advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
                                                        advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
                                                    }
                                                    else
                                                    {
                                                        genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
                                                        genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
                                                    }
                                                    paramcount++;
                                                }
                                                xml.readNext();
                                            }
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
                                            }
                                        }
                                        if (xml.isStartElement() && xml.name() == "field")
                                        {
                                            type = 2; //2 is a slider
                                            QString fieldtype = xml.attributes().value("name").toString();
                                            QString text = xml.readElementText();
                                            fieldmap[fieldtype] = text;
                                        }
                                        xml.readNext();
                                    }
                                    if (type == -1)
                                    {
                                        //Nothing inside! Assume it's a value, give it a default range.
                                        type = 2;
                                        QString fieldtype = "Range";
                                        QString text = "0 100"; //TODO: Determine a better way of figuring out default ranges.
                                        fieldmap[fieldtype] = text;
                                    }
                                    if (type == 2)
                                    {
                                        if (tab == "Advanced")
                                        {
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "SLIDER";
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
                                            advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
                                        }
                                        else
                                        {
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "SLIDER";
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
                                            genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
                                        }
                                        if (fieldmap.contains("Range"))
                                        {
                                            float min = 0;
                                            float max = 0;
                                            //Some range fields list "0-10" and some list "0 10". Handle both.
                                            if (fieldmap["Range"].split(" ").size() > 1)
                                            {
                                                min = fieldmap["Range"].split(" ")[0].trimmed().toFloat();
                                                max = fieldmap["Range"].split(" ")[1].trimmed().toFloat();
                                            }
                                            else if (fieldmap["Range"].split("-").size() > 1)
                                            {
                                                min = fieldmap["Range"].split("-")[0].trimmed().toFloat();
                                                max = fieldmap["Range"].split("-")[1].trimmed().toFloat();
                                            }
                                            if (tab == "Advanced")
                                            {
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
                                                advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
                                            }
                                            else
                                            {
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
                                                genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
                                            }
                                        }
                                    }
                                    if (tab == "Advanced")
                                    {
                                        advarraycount++;
                                        advset["count"] = advarraycount;
                                    }
                                    else
                                    {
                                        genarraycount++;
                                        genset["count"] = genarraycount;
                                    }
                                }
                                xml.readNext();
                            }
                            if (genarraycount > 0)
                            {
                                tool = new QGCToolWidget("", this);
                                tool->addUAS(mav);
                                tool->setTitle(parametersname);
                                tool->setObjectName(parametersname);
                                tool->setSettings(genset);
                                QList<QString> paramlist = tool->getParamList();
                                for (int i=0;i<paramlist.size();i++)
                                {
                                    //Based on the airframe, we add the parameter to different categories.
                                    if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
                                    {
                                        systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
                                    {
                                        systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
                                    {
                                        systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool);
                                    }
                                    else
                                    {
                                        libParamToWidgetMap->insert(paramlist[i],tool);
                                    }
                                }

                                toolWidgets.append(tool);
                                QGroupBox *box = new QGroupBox(this);
                                box->setTitle(tool->objectName());
                                box->setLayout(new QVBoxLayout());
                                box->layout()->addWidget(tool);
                                if (valuetype == "vehicles")
                                {
                                    ui->leftGeneralLayout->addWidget(box);
                                }
                                else if (valuetype == "libraries")
                                {
                                    ui->rightGeneralLayout->addWidget(box);
                                }
                                box->hide();
                                toolToBoxMap[tool] = box;
                            }
                            if (advarraycount > 0)
                            {
                                tool = new QGCToolWidget("", this);
                                tool->addUAS(mav);
                                tool->setTitle(parametersname);
                                tool->setObjectName(parametersname);
                                tool->setSettings(advset);
                                QList<QString> paramlist = tool->getParamList();
                                for (int i=0;i<paramlist.size();i++)
                                {
                                    //Based on the airframe, we add the parameter to different categories.
                                    if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
                                    {
                                        systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
                                    {
                                        systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool);
                                    }
                                    else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
                                    {
                                        systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool);
                                    }
                                    else
                                    {
                                        libParamToWidgetMap->insert(paramlist[i],tool);
                                    }
                                }

                                toolWidgets.append(tool);
                                QGroupBox *box = new QGroupBox(this);
                                box->setTitle(tool->objectName());
                                box->setLayout(new QVBoxLayout());
                                box->layout()->addWidget(tool);
                                if (valuetype == "vehicles")
                                {
                                    ui->leftAdvancedLayout->addWidget(box);
                                }
                                else if (valuetype == "libraries")
                                {
                                    ui->rightAdvancedLayout->addWidget(box);
                                }
                                box->hide();
                                toolToBoxMap[tool] = box;
                            }




                        }
                        xml.readNext();
                    }

                }

                xml.readNext();
            }
        }
        xml.readNext();
    }

    mav->getParamManager()->setParamInfo(paramTooltips);
    doneLoadingConfig = true;
    mav->requestParameters(); //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
}

void QGCVehicleConfig::setActiveUAS(UASInterface* active)
{
    // Do nothing if system is the same or NULL
    if ((active == NULL) || mav == active) return;

    if (mav)
    {
        // Disconnect old system
        disconnect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                   SLOT(remoteControlChannelRawChanged(int,float)));
        disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                   SLOT(parameterChanged(int,int,QString,QVariant)));
        disconnect(ui->refreshButton,SIGNAL(clicked()),mav,SLOT(requestParameters()));

        foreach (QGCToolWidget* tool, toolWidgets)
        {
            delete tool;
        }
        toolWidgets.clear();
    }

    // Connect new system
    mav = active;

    // Reset current state
    resetCalibrationRC();

    requestCalibrationRC();
    mav->requestParameter(0, "RC_TYPE");

    chanCount = 0;

    connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
               SLOT(remoteControlChannelRawChanged(int,float)));
    connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
               SLOT(parameterChanged(int,int,QString,QVariant)));
    connect(ui->refreshButton, SIGNAL(clicked()), active, SLOT(requestParameters()));

    if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
    {
        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
    }
    else
    {
        //Indication that we have no meta data for this system type.
        qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
        systemTypeToParamMap[mav->getSystemTypeName()] = new QMap<QString,QGCToolWidget*>();
        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
    }

    if (!paramTooltips.isEmpty())
    {
           mav->getParamManager()->setParamInfo(paramTooltips);
    }

    qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();

    //Load configuration after 1ms. This allows it to go into the event loop, and prevents application hangups due to the
    //amount of time it actually takes to load the configuration windows.
    QTimer::singleShot(1,this,SLOT(loadConfig()));

    updateStatus(QString("Reading from system %1").arg(mav->getUASName()));

    // Since a system is now connected, enable the VehicleConfig UI.
    //ui->tabWidget->setEnabled(true);
    ui->setButton->setEnabled(true);
    ui->refreshButton->setEnabled(true);
    ui->readButton->setEnabled(true);
    ui->writeButton->setEnabled(true);
    ui->loadFileButton->setEnabled(true);
    ui->saveFileButton->setEnabled(true);
    if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA")
    {
        ui->readButton->hide();
        ui->writeButton->hide();
    }
}

void QGCVehicleConfig::resetCalibrationRC()
{
    for (unsigned int i = 0; i < chanMax; ++i)
    {
        rcMin[i] = 1500;
        rcMax[i] = 1500;
    }
}

/**
 * Sends the RC calibration to the vehicle and stores it in EEPROM
 */
void QGCVehicleConfig::writeCalibrationRC()
{
    if (!mav) return;

    QString minTpl("RC%1_MIN");
    QString maxTpl("RC%1_MAX");
    QString trimTpl("RC%1_TRIM");
    QString revTpl("RC%1_REV");

    // Do not write the RC type, as these values depend on this
    // active onboard parameter

    for (unsigned int i = 0; i < chanCount; ++i)
    {
        //qDebug() << "SENDING" << minTpl.arg(i+1) << rcMin[i];
        mav->setParameter(0, minTpl.arg(i+1), rcMin[i]);
        QGC::SLEEP::usleep(50000);
        mav->setParameter(0, trimTpl.arg(i+1), rcTrim[i]);
        QGC::SLEEP::usleep(50000);
        mav->setParameter(0, maxTpl.arg(i+1), rcMax[i]);
        QGC::SLEEP::usleep(50000);
        mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1.0f : 1.0f);
        QGC::SLEEP::usleep(50000);
    }

    // Write mappings
    mav->setParameter(0, "RC_MAP_ROLL", (int32_t)(rcMapping[0]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_PITCH", (int32_t)(rcMapping[1]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_YAW", (int32_t)(rcMapping[2]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_THROTTLE", (int32_t)(rcMapping[3]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_MODE_SW", (int32_t)(rcMapping[4]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_AUX1", (int32_t)(rcMapping[5]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_AUX2", (int32_t)(rcMapping[6]+1));
    QGC::SLEEP::usleep(50000);
    mav->setParameter(0, "RC_MAP_AUX3", (int32_t)(rcMapping[7]+1));
    QGC::SLEEP::usleep(50000);
}

void QGCVehicleConfig::requestCalibrationRC()
{
    if (!mav) return;

    QString minTpl("RC%1_MIN");
    QString maxTpl("RC%1_MAX");
    QString trimTpl("RC%1_TRIM");
    QString revTpl("RC%1_REV");

    // Do not request the RC type, as these values depend on this
    // active onboard parameter

    for (unsigned int i = 0; i < chanMax; ++i)
    {
        mav->requestParameter(0, minTpl.arg(i+1));
        QGC::SLEEP::usleep(5000);
        mav->requestParameter(0, trimTpl.arg(i+1));
        QGC::SLEEP::usleep(5000);
        mav->requestParameter(0, maxTpl.arg(i+1));
        QGC::SLEEP::usleep(5000);
        mav->requestParameter(0, revTpl.arg(i+1));
        QGC::SLEEP::usleep(5000);
    }
}

void QGCVehicleConfig::writeParameters()
{
    updateStatus(tr("Writing all onboard parameters."));
    writeCalibrationRC();
    mav->writeParametersToStorage();
}

void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
{
    // Check if index and values are sane
    if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax || val < 500 || val > 2500)
        return;

    if (chan + 1 > (int)chanCount) {
        chanCount = chan+1;
    }

    // Update calibration data
    if (calibrationEnabled) {
        if (val < rcMin[chan])
        {
            rcMin[chan] = val;
        }

        if (val > rcMax[chan])
        {
            rcMax[chan] = val;
        }
    }

    // Raw value
    rcValue[chan] = val;

    // Normalized value
    float normalized;

    if (val >= rcTrim[chan])
    {
        normalized = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
    }
    else
    {
        normalized = -(rcTrim[chan] - val)/(rcTrim[chan] - rcMin[chan]);
    }

    // Bound
    normalized = qBound(-1.0f, normalized, 1.0f);
    // Invert
    normalized = (rcRev[chan]) ? -1.0f*normalized : normalized;

    if (chan == rcMapping[0])
    {
        // ROLL
        rcRoll = normalized;
    }
    if (chan == rcMapping[1])
    {
        // PITCH
        rcPitch = normalized;
    }
    if (chan == rcMapping[2])
    {
        rcYaw = normalized;
    }
    if (chan == rcMapping[3])
    {
        // THROTTLE
        if (rcRev[chan]) {
            rcThrottle = 1.0f + normalized;
        } else {
            rcThrottle = normalized;
        }

        rcThrottle = qBound(0.0f, rcThrottle, 1.0f);
    }
    if (chan == rcMapping[4])
    {
        // MODE SWITCH
        rcMode = normalized;
    }
    if (chan == rcMapping[5])
    {
        // AUX1
        rcAux1 = normalized;
    }
    if (chan == rcMapping[6])
    {
        // AUX2
        rcAux2 = normalized;
    }
    if (chan == rcMapping[7])
    {
        // AUX3
        rcAux3 = normalized;
    }

    changed = true;

    //qDebug() << "RC CHAN:" << chan << "PPM:" << val << "NORMALIZED:" << normalized;
}

void QGCVehicleConfig::updateInvertedCheckboxes(int index)
{
    unsigned int mapindex = rcMapping[index];

    switch (mapindex)
    {
    case 0:
        ui->invertCheckBox->setChecked(rcRev[index]);
        break;
    case 1:
        ui->invertCheckBox_2->setChecked(rcRev[index]);
        break;
    case 2:
        ui->invertCheckBox_3->setChecked(rcRev[index]);
        break;
    case 3:
        ui->invertCheckBox_4->setChecked(rcRev[index]);
        break;
    case 4:
        ui->invertCheckBox_5->setChecked(rcRev[index]);
        break;
    case 5:
        ui->invertCheckBox_6->setChecked(rcRev[index]);
        break;
    case 6:
        ui->invertCheckBox_7->setChecked(rcRev[index]);
        break;
    case 7:
        ui->invertCheckBox_8->setChecked(rcRev[index]);
        break;
    }
}

void QGCVehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
    Q_UNUSED(uas);
    Q_UNUSED(component);
    if (!doneLoadingConfig)
    {
        //We do not want to attempt to generate any UI elements until loading of the config file is complete.
        //We should re-request params later if needed, that is not implemented yet.
        return;
    }

    if (paramToWidgetMap->contains(parameterName))
    {
        //Main group of parameters of the selected airframe
        paramToWidgetMap->value(parameterName)->setParameterValue(uas,component,parameterName,value);
        if (toolToBoxMap.contains(paramToWidgetMap->value(parameterName)))
        {
            toolToBoxMap[paramToWidgetMap->value(parameterName)]->show();
        }
        else
        {
            qCritical() << "Widget with no box, possible memory corruption for param:" << parameterName;
        }
    }
    else if (libParamToWidgetMap->contains(parameterName))
    {
        //All the library parameters
        libParamToWidgetMap->value(parameterName)->setParameterValue(uas,component,parameterName,value);
        if (toolToBoxMap.contains(libParamToWidgetMap->value(parameterName)))
        {
            toolToBoxMap[libParamToWidgetMap->value(parameterName)]->show();
        }
        else
        {
            qCritical() << "Widget with no box, possible memory corruption for param:" << parameterName;
        }
    }
    else
    {
        //Param recieved that we have no metadata for. Search to see if it belongs in a
        //group with some other params
        bool found = false;
        for (int i=0;i<toolWidgets.size();i++)
        {
            if (parameterName.startsWith(toolWidgets[i]->objectName()))
            {
                //It should be grouped with this one, add it.
                toolWidgets[i]->addParam(uas,component,parameterName,value);
                libParamToWidgetMap->insert(parameterName,toolWidgets[i]);
                found  = true;
                break;
            }
        }
        if (!found)
        {
            //New param type, create a QGroupBox for it.
            QGCToolWidget *tool = new QGCToolWidget("", this);
            QString tooltitle = parameterName;
            if (parameterName.split("_").size() > 1)
            {
                tooltitle = parameterName.split("_")[0] + "_";
            }
            tool->setTitle(tooltitle);
            tool->setObjectName(tooltitle);
            //tool->setSettings(set);
            tool->addParam(uas,component,parameterName,value);
            libParamToWidgetMap->insert(parameterName,tool);
            toolWidgets.append(tool);
            QGroupBox *box = new QGroupBox(this);
            box->setTitle(tool->objectName());
            box->setLayout(new QVBoxLayout());
            box->layout()->addWidget(tool);


            //Make sure we have similar number of widgets on each side.
            if (ui->leftAdvancedLayout->count() > ui->rightAdvancedLayout->count())
            {
                ui->rightAdvancedLayout->addWidget(box);
            }
            else
            {
                ui->leftAdvancedLayout->addWidget(box);
            }
            toolToBoxMap[tool] = box;
        }
    }

    // Channel calibration values
    QRegExp minTpl("RC?_MIN");
    minTpl.setPatternSyntax(QRegExp::Wildcard);
    QRegExp maxTpl("RC?_MAX");
    maxTpl.setPatternSyntax(QRegExp::Wildcard);
    QRegExp trimTpl("RC?_TRIM");
    trimTpl.setPatternSyntax(QRegExp::Wildcard);
    QRegExp revTpl("RC?_REV");
    revTpl.setPatternSyntax(QRegExp::Wildcard);

    // Do not write the RC type, as these values depend on this
    // active onboard parameter

    if (minTpl.exactMatch(parameterName)) {
        bool ok;
        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        //qDebug() << "PARAM:" << parameterName << "index:" << index;
        if (ok && index < chanMax)
        {
            rcMin[index] = value.toInt();
            updateMinMax();
        }
    }

    if (maxTpl.exactMatch(parameterName)) {
        bool ok;
        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && index < chanMax)
        {
            rcMax[index] = value.toInt();
            updateMinMax();
        }
    }

    if (trimTpl.exactMatch(parameterName)) {
        bool ok;
        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && index < chanMax)
        {
            rcTrim[index] = value.toInt();
        }
    }

    if (revTpl.exactMatch(parameterName)) {
        bool ok;
        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && index < chanMax)
        {
            rcRev[index] = (value.toInt() == -1) ? true : false;
            updateInvertedCheckboxes(index);
        }
    }

//        mav->setParameter(0, trimTpl.arg(i), rcTrim[i]);
//        mav->setParameter(0, maxTpl.arg(i), rcMax[i]);
//        mav->setParameter(0, revTpl.arg(i), (rcRev[i]) ? -1 : 1);
//    }

    if (rcTypeUpdateRequested > 0 && parameterName == QString("RC_TYPE"))
    {
        rcTypeUpdateRequested = 0;
        updateStatus(tr("Received RC type update, setting parameters based on model."));
        rcType = value.toInt();
        // Request all other parameters as well
        requestCalibrationRC();
    }

    // Order is: roll, pitch, yaw, throttle, mode sw, aux 1-3

    if (parameterName.contains("RC_MAP_ROLL")) {
        rcMapping[0] = value.toInt() - 1;
        ui->rollSpinBox->setValue(rcMapping[0]+1);
        ui->rollSpinBox->setEnabled(true);
    }

    if (parameterName.contains("RC_MAP_PITCH")) {
        rcMapping[1] = value.toInt() - 1;
        ui->pitchSpinBox->setValue(rcMapping[1]+1);
        ui->pitchSpinBox->setEnabled(true);
    }

    if (parameterName.contains("RC_MAP_YAW")) {
        rcMapping[2] = value.toInt() - 1;
        ui->yawSpinBox->setValue(rcMapping[2]+1);
        ui->yawSpinBox->setEnabled(true);
    }

    if (parameterName.contains("RC_MAP_THROTTLE")) {
        rcMapping[3] = value.toInt() - 1;
        ui->throttleSpinBox->setValue(rcMapping[3]+1);
        ui->throttleSpinBox->setEnabled(true);
    }

    if (parameterName.contains("RC_MAP_MODE_SW")) {
        rcMapping[4] = value.toInt() - 1;
        ui->modeSpinBox->setValue(rcMapping[4]+1);
        ui->modeSpinBox->setEnabled(true);
    }

    if (parameterName.contains("RC_MAP_AUX1")) {
        rcMapping[5] = value.toInt() - 1;
        ui->aux1SpinBox->setValue(rcMapping[5]+1);
        ui->aux1SpinBox->setEnabled(true);
    }

    if (parameterName.contains("RC_MAP_AUX2")) {
        rcMapping[6] = value.toInt() - 1;
        ui->aux2SpinBox->setValue(rcMapping[6]+1);
        ui->aux2SpinBox->setEnabled(true);
    }

    if (parameterName.contains("RC_MAP_AUX3")) {
        rcMapping[7] = value.toInt() - 1;
        ui->aux3SpinBox->setValue(rcMapping[7]+1);
        ui->aux3SpinBox->setEnabled(true);
    }

    // Scaling

    if (parameterName.contains("RC_SCALE_ROLL")) {
        rcScaling[0] = value.toFloat();
    }

    if (parameterName.contains("RC_SCALE_PITCH")) {
        rcScaling[1] = value.toFloat();
    }

    if (parameterName.contains("RC_SCALE_YAW")) {
        rcScaling[2] = value.toFloat();
    }

    if (parameterName.contains("RC_SCALE_THROTTLE")) {
        rcScaling[3] = value.toFloat();
    }

    if (parameterName.contains("RC_SCALE_MODE_SW")) {
        rcScaling[4] = value.toFloat();
    }

    if (parameterName.contains("RC_SCALE_AUX1")) {
        rcScaling[5] = value.toFloat();
    }

    if (parameterName.contains("RC_SCALE_AUX2")) {
        rcScaling[6] = value.toFloat();
    }

    if (parameterName.contains("RC_SCALE_AUX3")) {
        rcScaling[7] = value.toFloat();
    }
}

void QGCVehicleConfig::updateStatus(const QString& str)
{
    ui->statusLabel->setText(str);
    ui->statusLabel->setStyleSheet("");
}

void QGCVehicleConfig::updateError(const QString& str)
{
    ui->statusLabel->setText(str);
    ui->statusLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name()));
}
void QGCVehicleConfig::updateMinMax()
{
    // Order is: roll, pitch, yaw, throttle, mode sw, aux 1-3
    /*ui->rollWidget->setMin(rcMin[0]);
    ui->rollWidget->setMax(rcMax[0]);
    ui->pitchWidget->setMin(rcMin[1]);
    ui->pitchWidget->setMax(rcMax[1]);
    ui->yawWidget->setMin(rcMin[2]);
    ui->yawWidget->setMax(rcMax[2]);
    ui->throttleWidget->setMin(rcMin[3]);
    ui->throttleWidget->setMax(rcMax[3]);
    ui->radio5Widget->setMin(rcMin[4]);
    ui->radio5Widget->setMax(rcMax[4]);
    ui->radio6Widget->setMin(rcMin[5]);
    ui->radio6Widget->setMax(rcMax[5]);
    ui->radio7Widget->setMin(rcMin[6]);
    ui->radio7Widget->setMax(rcMax[6]);
    ui->radio8Widget->setMin(rcMin[7]);
    ui->radio8Widget->setMax(rcMax[7]);*/
}

void QGCVehicleConfig::setRCType(int type)
{
    if (!mav) return;

    // XXX TODO Add handling of RC_TYPE vs non-RC_TYPE here

    mav->setParameter(0, "RC_TYPE", type);
    rcTypeUpdateRequested = QGC::groundTimeMilliseconds();
    QTimer::singleShot(rcTypeTimeout+100, this, SLOT(checktimeOuts()));
}

void QGCVehicleConfig::checktimeOuts()
{
    if (rcTypeUpdateRequested > 0)
    {
        if (QGC::groundTimeMilliseconds() - rcTypeUpdateRequested > rcTypeTimeout)
        {
            updateError(tr("Setting remote control timed out - is the system connected?"));
        }
    }
}

void QGCVehicleConfig::updateView()
{
    if (changed)
    {
        if (rc_mode == RC_MODE_1)
        {
            //ui->rollSlider->setValue(rcRoll * 50 + 50);
            //ui->pitchSlider->setValue(rcThrottle * 100);
            //ui->yawSlider->setValue(rcYaw * 50 + 50);
            //ui->throttleSlider->setValue(rcPitch * 50 + 50);
            ui->rollWidget->setValue(rcValue[0]);
            ui->throttleWidget->setValue(rcValue[1]);
            ui->yawWidget->setValue(rcValue[2]);
            ui->pitchWidget->setValue(rcValue[3]);

            ui->rollWidget->setMin(rcMin[0]);
            ui->rollWidget->setMax(rcMax[0]);
            ui->throttleWidget->setMin(rcMin[1]);
            ui->throttleWidget->setMax(rcMax[1]);
            ui->yawWidget->setMin(rcMin[2]);
            ui->yawWidget->setMax(rcMax[2]);
            ui->pitchWidget->setMin(rcMin[3]);
            ui->pitchWidget->setMax(rcMax[3]);
        }
        else if (rc_mode == RC_MODE_2)
        {
            //ui->rollSlider->setValue(rcRoll * 50 + 50);
            //ui->pitchSlider->setValue(rcPitch * 50 + 50);
            //ui->yawSlider->setValue(rcYaw * 50 + 50);
            //ui->throttleSlider->setValue(rcThrottle * 100);
            ui->rollWidget->setValue(rcValue[0]);
            ui->pitchWidget->setValue(rcValue[1]);
            ui->yawWidget->setValue(rcValue[2]);
            ui->throttleWidget->setValue(rcValue[3]);

            ui->rollWidget->setMin(rcMin[0]);
            ui->rollWidget->setMax(rcMax[0]);
            ui->pitchWidget->setMin(rcMin[1]);
            ui->pitchWidget->setMax(rcMax[1]);
            ui->yawWidget->setMin(rcMin[2]);
            ui->yawWidget->setMax(rcMax[2]);
            ui->throttleWidget->setMin(rcMin[3]);
            ui->throttleWidget->setMax(rcMax[3]);
        }
        else if (rc_mode == RC_MODE_3)
        {
            //ui->rollSlider->setValue(rcYaw * 50 + 50);
            //ui->pitchSlider->setValue(rcThrottle * 100);
            //ui->yawSlider->setValue(rcRoll * 50 + 50);
            //ui->throttleSlider->setValue(rcPitch * 50 + 50);
            ui->yawWidget->setValue(rcValue[0]);
            ui->throttleWidget->setValue(rcValue[1]);
            ui->rollWidget->setValue(rcValue[2]);
            ui->pitchWidget->setValue(rcValue[3]);

            ui->yawWidget->setMin(rcMin[0]);
            ui->yawWidget->setMax(rcMax[0]);
            ui->throttleWidget->setMin(rcMin[1]);
            ui->throttleWidget->setMax(rcMax[1]);
            ui->rollWidget->setMin(rcMin[2]);
            ui->rollWidget->setMax(rcMax[2]);
            ui->pitchWidget->setMin(rcMin[3]);
            ui->pitchWidget->setMax(rcMax[3]);
        }
        else if (rc_mode == RC_MODE_4)
        {
            //ui->rollSlider->setValue(rcYaw * 50 + 50);
            //ui->pitchSlider->setValue(rcPitch * 50 + 50);
            //ui->yawSlider->setValue(rcRoll * 50 + 50);
            //ui->throttleSlider->setValue(rcThrottle * 100);
            ui->yawWidget->setValue(rcValue[0]);
            ui->pitchWidget->setValue(rcValue[1]);
            ui->rollWidget->setValue(rcValue[2]);
            ui->throttleWidget->setValue(rcValue[3]);

            ui->yawWidget->setMin(rcMin[0]);
            ui->yawWidget->setMax(rcMax[0]);
            ui->pitchWidget->setMin(rcMin[1]);
            ui->pitchWidget->setMax(rcMax[1]);
            ui->rollWidget->setMin(rcMin[2]);
            ui->rollWidget->setMax(rcMax[2]);
            ui->throttleWidget->setMin(rcMin[3]);
            ui->throttleWidget->setMax(rcMax[3]);
        }
        else if (rc_mode == RC_MODE_NONE)
        {
            ui->rollWidget->setValue(rcValue[0]);
            ui->pitchWidget->setValue(rcValue[1]);
            ui->throttleWidget->setValue(rcValue[2]);
            ui->yawWidget->setValue(rcValue[3]);

            ui->rollWidget->setMin(800);
            ui->rollWidget->setMax(2200);
            ui->pitchWidget->setMin(800);
            ui->pitchWidget->setMax(2200);
            ui->throttleWidget->setMin(800);
            ui->throttleWidget->setMax(2200);
            ui->yawWidget->setMin(800);
            ui->yawWidget->setMax(2200);
        }

        ui->chanLabel->setText(QString("%1/%2").arg(rcValue[rcMapping[0]]).arg(rcRoll, 5, 'f', 2, QChar(' ')));
        ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[rcMapping[1]]).arg(rcPitch, 5, 'f', 2, QChar(' ')));
        ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[rcMapping[2]]).arg(rcYaw, 5, 'f', 2, QChar(' ')));
        ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[rcMapping[3]]).arg(rcThrottle, 5, 'f', 2, QChar(' ')));



        //ui->modeSwitchSlider->setValue(rcMode * 50 + 50);
        ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[rcMapping[4]]).arg(rcMode, 5, 'f', 2, QChar(' ')));

        if (rcValue[rcMapping[4] != UINT16_MAX]) {
            ui->radio5Widget->setValue(rcValue[4]);
            ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[rcMapping[5]]).arg(rcAux1, 5, 'f', 2, QChar(' ')));
        } else {
            ui->chanLabel_5->setText(tr("---"));
        }

        if (rcValue[rcMapping[5]] != UINT16_MAX) {
            //ui->aux1Slider->setValue(rcAux1 * 50 + 50);
            ui->radio6Widget->setValue(rcValue[5]);
            ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[rcMapping[5]]).arg(rcAux1, 5, 'f', 2, QChar(' ')));
        } else {
            ui->chanLabel_6->setText(tr("---"));
        }

        if (rcValue[rcMapping[6]] != UINT16_MAX) {
            //ui->aux2Slider->setValue(rcAux2 * 50 + 50);
            ui->radio7Widget->setValue(rcValue[6]);
            ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[rcMapping[6]]).arg(rcAux2, 5, 'f', 2, QChar(' ')));
        } else {
            ui->chanLabel_7->setText(tr("---"));
        }

        if (rcValue[rcMapping[7]] != UINT16_MAX) {
            //ui->aux3Slider->setValue(rcAux3 * 50 + 50);
            ui->radio8Widget->setValue(rcValue[7]);
            ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[rcMapping[7]]).arg(rcAux3, 5, 'f', 2, QChar(' ')));
        } else {
            ui->chanLabel_8->setText(tr("---"));
        }

        changed = false;
    }
}