ground/gcs/src/plugins/config/configoutputwidget.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       configoutputwidget.cpp
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   6  *             E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup ConfigPlugin Config Plugin
  10  * @{
  11  * @brief Servo output configuration panel for the config gadget
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #include "configoutputwidget.h"
  30
  31 #include "ui_output.h"
  32 #include "ui_outputchannelform.h"
  33
  34 #include "outputchannelform.h"
  35 #include "configvehicletypewidget.h"
  36
  37 #include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
  38 #include <extensionsystem/pluginmanager.h>
  39 #include <uavobjecthelper.h>
  40
  41 #include "mixersettings.h"
  42 #include "actuatorcommand.h"
  43 #include "actuatorsettings.h"
  44 #include "flightmodesettings.h"
  45 #include "flightstatus.h"
  46 #include "systemsettings.h"
  47
  48 #include <QDebug>
  49 #include <QStringList>
  50 #include <QWidget>
  51 #include <QTextEdit>
  52 #include <QMessageBox>
  53
  54 // Motor settings
  55 #define DSHOT_MAXOUTPUT_RANGE         2000
  56 #define DSHOT_MINTOUTPUT_RANGE        0
  57 #define PWMSYNC_MAXOUTPUT_RANGE       1900
  58 #define DEFAULT_MAXOUTPUT_RANGE       2000
  59 #define DEFAULT_MINOUTPUT_RANGE       900
  60 #define DEFAULT_MINOUTPUT_VALUE       1000
  61 #define REVMOTOR_NEUTRAL_TARGET_VALUE 1500
  62 #define REVMOTOR_NEUTRAL_DIFF_VALUE   150
  63 #define MOTOR_NEUTRAL_DIFF_VALUE      200
  64
  65 // Servo settings
  66 #define SERVO_MAXOUTPUT_RANGE         2500
  67 #define SERVO_MINOUTPUT_RANGE         500
  68 #define SERVO_MAXOUTPUT_VALUE         2000
  69 #define SERVO_MINOUTPUT_VALUE         1000
  70 #define SERVO_NEUTRAL_VALUE           1500
  71
  72 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
  73 {
  74     m_ui = new Ui_OutputWidget();
  75     m_ui->setupUi(this);
  76
  77     // must be done before auto binding !
  78     setWikiURL("Output+Configuration");
  79
  80     addAutoBindings();
  81
  82     m_ui->boardWarningFrame->setVisible(false);
  83     m_ui->configWarningFrame->setVisible(false);
  84
  85     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  86     UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
  87     connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
  88
  89     connect(m_ui->channelOutTest, SIGNAL(clicked(bool)), this, SLOT(runChannelTests(bool)));
  90
  91     // Configure the task widget
  92
  93     // Track the ActuatorSettings object
  94     addUAVObject("ActuatorSettings");
  95
  96     // NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
  97     // Register for ActuatorSettings changes:
  98     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
  99         OutputChannelForm *form = new OutputChannelForm(i, this);
 100         form->moveTo(*(m_ui->channelLayout));
 101
 102         connect(m_ui->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
 103         connect(form, SIGNAL(channelChanged(int, int)), this, SLOT(sendChannelTest(int, int)));
 104
 105         addWidget(form->ui->actuatorMin);
 106         addWidget(form->ui->actuatorNeutral);
 107         addWidget(form->ui->actuatorMax);
 108         addWidget(form->ui->actuatorRev);
 109         addWidget(form->ui->actuatorLink);
 110     }
 111
 112     // Associate the buttons with their UAVO fields
 113     addWidget(m_ui->spinningArmed);
 114     connect(m_ui->spinningArmed, SIGNAL(clicked(bool)), this, SLOT(updateSpinStabilizeCheckComboBoxes()));
 115
 116     addUAVObject("FlightModeSettings");
 117     addWidgetBinding("FlightModeSettings", "AlwaysStabilizeWhenArmedSwitch", m_ui->alwaysStabilizedSwitch);
 118
 119     connect(FlightStatus::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateAlwaysStabilizeStatus()));
 120
 121     MixerSettings *mixer = MixerSettings::GetInstance(getObjectManager());
 122     Q_ASSERT(mixer);
 123     m_banks << OutputBankControls(mixer, m_ui->chBank1, QColor("#C6ECAE"), m_ui->cb_outputRate1, m_ui->cb_outputMode1);
 124     m_banks << OutputBankControls(mixer, m_ui->chBank2, QColor("#91E5D3"), m_ui->cb_outputRate2, m_ui->cb_outputMode2);
 125     m_banks << OutputBankControls(mixer, m_ui->chBank3, QColor("#FCEC52"), m_ui->cb_outputRate3, m_ui->cb_outputMode3);
 126     m_banks << OutputBankControls(mixer, m_ui->chBank4, QColor("#C3A8FF"), m_ui->cb_outputRate4, m_ui->cb_outputMode4);
 127     m_banks << OutputBankControls(mixer, m_ui->chBank5, QColor("#F7F7F2"), m_ui->cb_outputRate5, m_ui->cb_outputMode5);
 128     m_banks << OutputBankControls(mixer, m_ui->chBank6, QColor("#FF9F51"), m_ui->cb_outputRate6, m_ui->cb_outputMode6);
 129
 130     QList<int> rates;
 131     rates << 50 << 60 << 125 << 165 << 270 << 330 << 400 << 490;
 132     int i = 0;
 133     foreach(OutputBankControls controls, m_banks) {
 134         addWidget(controls.rateCombo());
 135
 136         controls.rateCombo()->addItem(tr("-"), QVariant(0));
 137         controls.rateCombo()->model()->setData(controls.rateCombo()->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
 138         foreach(int rate, rates) {
 139             controls.rateCombo()->addItem(tr("%1 Hz").arg(rate), rate);
 140         }
 141
 142         addWidgetBinding("ActuatorSettings", "BankMode", controls.modeCombo(), i++, 0, true);
 143         connect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 144     }
 145
 146     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 147     connect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateBoardWarnings(UAVObject *)));
 148
 149     inputCalibrationStarted = false;
 150     channelTestsStarted     = false;
 151
 152     // TODO why do we do that ?
 153     disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
 154 }
 155
 156 ConfigOutputWidget::~ConfigOutputWidget()
 157 {
 158     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 159
 160     disconnect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateBoardWarnings(UAVObject *)));
 161     foreach(OutputBankControls controls, m_banks) {
 162         disconnect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 163     }
 164 }
 165
 166 void ConfigOutputWidget::enableControls(bool enable)
 167 {
 168     ConfigTaskWidget::enableControls(enable);
 169
 170     if (!enable) {
 171         m_ui->channelOutTest->setChecked(false);
 172         channelTestsStarted = false;
 173     }
 174     m_ui->channelOutTest->setEnabled(enable);
 175 }
 176
 177 /**
 178    Force update all channels with the values in the OutputChannelForms.
 179  */
 180 void ConfigOutputWidget::sendAllChannelTests()
 181 {
 182     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
 183         OutputChannelForm *form = getOutputChannelForm(i);
 184         sendChannelTest(i, form->neutral());
 185     }
 186 }
 187
 188 /**
 189    Toggles the channel testing mode by making the GCS take over
 190    the ActuatorCommand objects
 191  */
 192 void ConfigOutputWidget::runChannelTests(bool state)
 193 {
 194     if (!checkOutputConfig()) {
 195         m_ui->channelOutTest->setChecked(false);
 196         QMessageBox::warning(this, tr("Warning"), tr("There is something wrong in the current config."
 197                                                      "<p>Please fix the issue before starting testing outputs.</p>"), QMessageBox::Ok);
 198         return;
 199     }
 200
 201     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 202     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 203
 204     if (state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
 205         QMessageBox mbox;
 206         mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. "
 207                                 "Please fix these before testing outputs.")));
 208         mbox.setStandardButtons(QMessageBox::Ok);
 209         mbox.exec();
 210
 211         // Unfortunately must cache this since callback will reoccur
 212         m_accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
 213
 214         m_ui->channelOutTest->setChecked(false);
 215         return;
 216     }
 217
 218     // Confirm this is definitely what they want
 219     if (state) {
 220         QMessageBox mbox;
 221         mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter."
 222                                 "It is recommended to remove any blades from motors. Are you sure you want to do this?")));
 223         mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
 224         int retval = mbox.exec();
 225         if (retval != QMessageBox::Yes) {
 226             state = false;
 227             qDebug() << "Cancelled";
 228             m_ui->channelOutTest->setChecked(false);
 229             return;
 230         }
 231     }
 232
 233     channelTestsStarted = state;
 234
 235     // Emit signal to be received by Input tab
 236     emit outputConfigSafeChanged(!state);
 237
 238     m_ui->spinningArmed->setEnabled(!state);
 239     m_ui->alwaysStabilizedSwitch->setEnabled((m_ui->spinningArmed->isChecked()) && !state);
 240     m_ui->alwayStabilizedLabel1->setEnabled((m_ui->spinningArmed->isChecked()) && !state);
 241     m_ui->alwayStabilizedLabel2->setEnabled((m_ui->spinningArmed->isChecked()) && !state);
 242     setBanksEnabled(!state);
 243
 244     ActuatorCommand *obj = ActuatorCommand::GetInstance(getObjectManager());
 245     UAVObject::Metadata mdata = obj->getMetadata();
 246     if (state) {
 247         m_accInitialData = mdata;
 248         UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
 249         UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 250         UAVObject::SetGcsTelemetryAcked(mdata, false);
 251         UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 252         mdata.gcsTelemetryUpdatePeriod = 100;
 253     } else {
 254         mdata = m_accInitialData; // Restore metadata
 255     }
 256     obj->setMetadata(mdata);
 257     obj->updated();
 258
 259     // Setup the correct initial channel values when the channel testing mode is turned on.
 260     if (state) {
 261         sendAllChannelTests();
 262     }
 263
 264     // Add info at end
 265     if (!state && isDirty()) {
 266         QMessageBox mbox;
 267         mbox.setText(QString(tr("You may want to save your neutral settings.")));
 268         mbox.setStandardButtons(QMessageBox::Ok);
 269         mbox.setIcon(QMessageBox::Information);
 270         mbox.exec();
 271     }
 272 }
 273
 274 OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const
 275 {
 276     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 277     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 278         if (outputChannelForm->index() == index) {
 279             return outputChannelForm;
 280         }
 281     }
 282
 283     // no OutputChannelForm found with given index
 284     return NULL;
 285 }
 286
 287 /**
 288  * Set the label for a channel output assignement
 289  */
 290 void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString &str)
 291 {
 292     // FIXME: use signal/ slot approach
 293     UAVObjectField *field = obj->getField(str);
 294     QStringList options   = field->getOptions();
 295     int index = options.indexOf(field->getValue().toString());
 296
 297     OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
 298
 299     if (outputChannelForm) {
 300         outputChannelForm->setName(str);
 301     }
 302 }
 303
 304 /**
 305    Sends the channel value to the UAV to move the servo.
 306    Returns immediately if we are not in testing mode
 307  */
 308 void ConfigOutputWidget::sendChannelTest(int index, int value)
 309 {
 310     if (!m_ui->channelOutTest->isChecked()) {
 311         return;
 312     }
 313
 314     if (index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
 315         return;
 316     }
 317
 318     ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
 319     Q_ASSERT(actuatorCommand);
 320     ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
 321     actuatorCommandFields.Channel[index] = value;
 322     actuatorCommand->setData(actuatorCommandFields);
 323 }
 324
 325 void ConfigOutputWidget::setColor(QWidget *widget, const QColor color)
 326 {
 327     QPalette p(palette());
 328
 329     p.setColor(QPalette::Background, color);
 330     p.setColor(QPalette::Base, color);
 331     p.setColor(QPalette::Active, QPalette::Button, color);
 332     p.setColor(QPalette::Inactive, QPalette::Button, color);
 333     widget->setAutoFillBackground(true);
 334     widget->setPalette(p);
 335 }
 336
 337 /********************************
 338  *  Output settings
 339  *******************************/
 340
 341 /**
 342    Request the current config from the board (RC Output)
 343  */
 344 void ConfigOutputWidget::refreshWidgetsValuesImpl(UAVObject *obj)
 345 {
 346     Q_UNUSED(obj);
 347
 348     // Get Actuator Settings
 349     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 350
 351     Q_ASSERT(actuatorSettings);
 352     ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 353
 354     // Get channel descriptions
 355     QStringList channelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
 356
 357     // Initialize output forms
 358     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 359     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 360         outputChannelForm->setName(channelDesc[outputChannelForm->index()]);
 361
 362         // init min,max,neutral
 363         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 364         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 365         outputChannelForm->setRange(minValue, maxValue);
 366
 367         int neutral  = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 368         outputChannelForm->setNeutral(neutral);
 369     }
 370
 371     // Get the SpinWhileArmed setting
 372     m_ui->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
 373
 374     for (int i = 0; i < m_banks.count(); i++) {
 375         OutputBankControls controls = m_banks.at(i);
 376         // Reset to all disabled
 377         controls.label()->setText("-");
 378
 379         controls.rateCombo()->setEnabled(false);
 380         setColor(controls.rateCombo(), palette().color(QPalette::Background));
 381         controls.rateCombo()->setCurrentIndex(0);
 382
 383         controls.modeCombo()->setEnabled(false);
 384         setColor(controls.modeCombo(), palette().color(QPalette::Background));
 385     }
 386
 387     // Get connected board model
 388     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 389     Q_ASSERT(pm);
 390     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
 391     Q_ASSERT(utilMngr);
 392     QStringList bankLabels;
 393     QList<int> channelBanks;
 394
 395     if (utilMngr) {
 396         int board = utilMngr->getBoardModel();
 397         // Setup labels and combos for banks according to board type
 398         if ((board & 0xff00) == 0x0400) {
 399             // Coptercontrol family of boards 4 timer banks
 400             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
 401             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
 402         } else if (board == 0x0903) {
 403             // Revolution family of boards 6 timer banks
 404             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
 405             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
 406         } else if (board == 0x0905) {
 407             // Revolution Nano
 408             bankLabels << "1 (1)" << "2 (2,7,11)" << "3 (3)" << "4 (4)" << "5 (5-6)" << "6 (8-10,12)";
 409             channelBanks << 1 << 2 << 3 << 4 << 5 << 5 << 2 << 6 << 6 << 6 << 2 << 6;
 410         } else if (board == 0x9201) {
 411             // Sparky2
 412             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7-8)" << "6 (9-10)";
 413             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 5 << 6 << 6;
 414         } else if (board == 0x1001) {
 415             // SPRacingF3
 416             bankLabels << "1 (1-3,7)" << "2 (4,8)" << "3 (5)" << "4 (6)";
 417             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 1 << 2;
 418         } else if (board == 0x1002 || board == 0x1003) {
 419             // SPRacingF3_EVO, NucleoF303RE
 420             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5-8)";
 421             channelBanks << 1 << 1 << 1 << 2 << 3 << 3 << 3 << 3;
 422         } else if (board == 0x1005) { // PikoBLX
 423             bankLabels << "1 (1-4)" << "2 (5-6)" << "3 (7)" << "4 (8)";
 424             channelBanks << 1 << 1 << 1 << 1 << 2 << 2 << 3 << 4;
 425         } else if (board == 0x1006) { // tinyFISH
 426             bankLabels << "1 (1)" << "2 (2)" << "3 (3-4)" << "4 (5-6)";
 427             channelBanks << 1 << 2 << 3 << 3 << 4 << 4;
 428         }
 429     }
 430
 431     // Store how many banks are active according to the board
 432     activeBanksCount = bankLabels.count();
 433
 434     int i = 0;
 435     foreach(QString banklabel, bankLabels) {
 436         OutputBankControls controls = m_banks.at(i);
 437
 438         controls.label()->setText(banklabel);
 439         int index = controls.rateCombo()->findData(actuatorSettingsData.BankUpdateFreq[i]);
 440         if (index == -1) {
 441             controls.rateCombo()->addItem(tr("%1 Hz").arg(actuatorSettingsData.BankUpdateFreq[i]), actuatorSettingsData.BankUpdateFreq[i]);
 442         }
 443         bool isPWM = (controls.modeCombo()->currentIndex() == ActuatorSettings::BANKMODE_PWM);
 444         controls.rateCombo()->setCurrentIndex(index);
 445         controls.rateCombo()->setEnabled(!inputCalibrationStarted && !channelTestsStarted && isPWM);
 446         setColor(controls.rateCombo(), controls.color());
 447         controls.modeCombo()->setEnabled(!inputCalibrationStarted && !channelTestsStarted);
 448         setColor(controls.modeCombo(), controls.color());
 449         i++;
 450     }
 451
 452     // Get Channel ranges:
 453     i = 0;
 454     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 455         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 456         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 457
 458         if (channelBanks.count() > i) {
 459             int bankNumber = channelBanks.at(i);
 460             OutputBankControls bankControls = m_banks.at(bankNumber - 1);
 461
 462             setChannelLimits(outputChannelForm, &bankControls);
 463
 464             outputChannelForm->setBank(QString::number(bankNumber));
 465             outputChannelForm->setColor(bankControls.color());
 466
 467             i++;
 468         }
 469         outputChannelForm->setRange(minValue, maxValue);
 470         int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 471         outputChannelForm->setNeutral(neutral);
 472     }
 473
 474     updateSpinStabilizeCheckComboBoxes();
 475     checkOutputConfig();
 476 }
 477
 478 /**
 479  * Sends the config to the board, without saving to the SD card (RC Output)
 480  */
 481 void ConfigOutputWidget::updateObjectsFromWidgetsImpl()
 482 {
 483     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 484
 485     Q_ASSERT(actuatorSettings);
 486     if (actuatorSettings) {
 487         ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 488
 489         // Set channel ranges
 490         QList<OutputChannelForm *> outputChannelForms     = findChildren<OutputChannelForm *>();
 491         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 492             actuatorSettingsData.ChannelMax[outputChannelForm->index()]     = outputChannelForm->max();
 493             actuatorSettingsData.ChannelMin[outputChannelForm->index()]     = outputChannelForm->min();
 494             actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
 495         }
 496
 497         // Set update rates
 498         actuatorSettingsData.BankUpdateFreq[0]    = m_ui->cb_outputRate1->currentData().toUInt();
 499         actuatorSettingsData.BankUpdateFreq[1]    = m_ui->cb_outputRate2->currentData().toUInt();
 500         actuatorSettingsData.BankUpdateFreq[2]    = m_ui->cb_outputRate3->currentData().toUInt();
 501         actuatorSettingsData.BankUpdateFreq[3]    = m_ui->cb_outputRate4->currentData().toUInt();
 502         actuatorSettingsData.BankUpdateFreq[4]    = m_ui->cb_outputRate5->currentData().toUInt();
 503         actuatorSettingsData.BankUpdateFreq[5]    = m_ui->cb_outputRate6->currentData().toUInt();
 504
 505         actuatorSettingsData.MotorsSpinWhileArmed = m_ui->spinningArmed->isChecked() ?
 506                                                     ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
 507                                                     ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
 508
 509         // Apply settings
 510         UAVObjectUpdaterHelper updateHelper;
 511         actuatorSettings->setData(actuatorSettingsData, false);
 512         updateHelper.doObjectAndWait(actuatorSettings);
 513     }
 514
 515     FlightModeSettings *flightModeSettings = FlightModeSettings::GetInstance(getObjectManager());
 516     Q_ASSERT(flightModeSettings);
 517
 518     if (flightModeSettings) {
 519         FlightModeSettings::DataFields flightModeSettingsData = flightModeSettings->getData();
 520         flightModeSettingsData.AlwaysStabilizeWhenArmedSwitch = m_ui->alwaysStabilizedSwitch->currentIndex();
 521
 522         // Apply settings
 523         flightModeSettings->setData(flightModeSettingsData);
 524     }
 525 }
 526
 527 void ConfigOutputWidget::updateSpinStabilizeCheckComboBoxes()
 528 {
 529     m_ui->alwayStabilizedLabel1->setEnabled((m_ui->spinningArmed->isChecked()) && (m_ui->spinningArmed->isEnabled()));
 530     m_ui->alwayStabilizedLabel2->setEnabled((m_ui->spinningArmed->isChecked()) && (m_ui->spinningArmed->isEnabled()));
 531     m_ui->alwaysStabilizedSwitch->setEnabled((m_ui->spinningArmed->isChecked()) && (m_ui->spinningArmed->isEnabled()));
 532
 533     if (!m_ui->spinningArmed->isChecked()) {
 534         m_ui->alwaysStabilizedSwitch->setCurrentIndex(FlightModeSettings::ALWAYSSTABILIZEWHENARMEDSWITCH_DISABLED);
 535     }
 536 }
 537
 538 void ConfigOutputWidget::updateAlwaysStabilizeStatus()
 539 {
 540     FlightStatus *flightStatusObj = FlightStatus::GetInstance(getObjectManager());
 541     FlightStatus::DataFields flightStatus = flightStatusObj->getData();
 542
 543     if (flightStatus.AlwaysStabilizeWhenArmed == FlightStatus::ALWAYSSTABILIZEWHENARMED_TRUE) {
 544         m_ui->alwayStabilizedLabel2->setText(tr("AlwaysStabilizeWhenArmed is <b>ACTIVE</b>. This prevents arming!."));
 545     } else {
 546         m_ui->alwayStabilizedLabel2->setText(tr("(Really be careful!)."));
 547     }
 548 }
 549
 550 void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls)
 551 {
 552     // Set UI limits according to the bankmode and destination
 553     switch (bankControls->modeCombo()->currentIndex()) {
 554     case ActuatorSettings::BANKMODE_DSHOT:
 555         // 0 - 2000 UI limits, DShot min value is fixed to zero
 556         if (channelForm->isServoOutput()) {
 557             // Driving a servo using DShot doest not make sense so break
 558             break;
 559         }
 560         channelForm->setLimits(DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
 561         channelForm->setRange(DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
 562         channelForm->setNeutral(DSHOT_MINTOUTPUT_RANGE);
 563         break;
 564     case ActuatorSettings::BANKMODE_PWMSYNC:
 565         // 900 - 1900 UI limits
 566         // Default values 1000 - 1900
 567         channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE);
 568         channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
 569         channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
 570         if (channelForm->isServoOutput()) {
 571             // Servo: Some of them can handle PWMSync, 500 - 1900 UI limits
 572             // Default values 1000 - 1900 + neutral 1500
 573             channelForm->setRange(SERVO_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
 574             channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
 575         }
 576         break;
 577     case ActuatorSettings::BANKMODE_PWM:
 578         if (channelForm->isServoOutput()) {
 579             // Servo: 500 - 2500 UI limits
 580             // Default values 1000 - 2000 + neutral 1500
 581             channelForm->setLimits(SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE, SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE);
 582             channelForm->setRange(SERVO_MINOUTPUT_VALUE, SERVO_MAXOUTPUT_VALUE);
 583             channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
 584             break;
 585         }
 586     // PWM motor outputs fall to default
 587     case ActuatorSettings::BANKMODE_ONESHOT125:
 588     case ActuatorSettings::BANKMODE_ONESHOT42:
 589     case ActuatorSettings::BANKMODE_MULTISHOT:
 590         if (channelForm->isServoOutput()) {
 591             // Driving a servo using this mode does not make sense so break
 592             break;
 593         }
 594     default:
 595         // Motors 900 - 2000 UI limits
 596         // Default values 1000 - 2000, neutral set to min
 597         // This settings are used for PWM, OneShot125, OneShot42 and MultiShot
 598         channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE);
 599         channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, DEFAULT_MAXOUTPUT_RANGE);
 600         channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
 601         break;
 602     }
 603 }
 604
 605 ConfigOutputWidget::ChannelConfigWarning ConfigOutputWidget::checkChannelConfig(OutputChannelForm *channelForm, OutputBankControls *bankControls)
 606 {
 607     ChannelConfigWarning warning = None;
 608     int currentNeutralValue = channelForm->neutralValue();
 609
 610     // Check if RevMotor has neutral value around center
 611     if (channelForm->isReversibleMotorOutput()) {
 612         warning = IsReversibleMotorCheckNeutral;
 613         int neutralDiff = qAbs(REVMOTOR_NEUTRAL_TARGET_VALUE - currentNeutralValue);
 614         if (neutralDiff < REVMOTOR_NEUTRAL_DIFF_VALUE) {
 615             // Reset warning
 616             warning = None;
 617         }
 618     }
 619
 620     // Check if NormalMotor neutral is not too high
 621     if (channelForm->isNormalMotorOutput()) {
 622         warning = IsNormalMotorCheckNeutral;
 623         int neutralDiff = currentNeutralValue - DEFAULT_MINOUTPUT_VALUE;
 624         if (neutralDiff < MOTOR_NEUTRAL_DIFF_VALUE) {
 625             // Reset warning
 626             warning = None;
 627         }
 628     }
 629
 630     switch (bankControls->modeCombo()->currentIndex()) {
 631     case ActuatorSettings::BANKMODE_DSHOT:
 632         if (channelForm->isServoOutput()) {
 633             // Driving a servo using DShot doest not make sense
 634             warning = CannotDriveServo;
 635         } else if (channelForm->isReversibleMotorOutput()) {
 636             // Bi-directional DShot not yet supported
 637             warning = BiDirectionalDShotNotSupported;
 638         }
 639         break;
 640     case ActuatorSettings::BANKMODE_PWMSYNC:
 641     case ActuatorSettings::BANKMODE_PWM:
 642         break;
 643     case ActuatorSettings::BANKMODE_ONESHOT125:
 644     case ActuatorSettings::BANKMODE_ONESHOT42:
 645     case ActuatorSettings::BANKMODE_MULTISHOT:
 646         if (channelForm->isServoOutput()) {
 647             warning = CannotDriveServo;
 648             // Driving a servo using this mode does not make sense so break
 649         }
 650     default:
 651         break;
 652     }
 653
 654     return warning;
 655 }
 656
 657
 658 void ConfigOutputWidget::onBankTypeChange()
 659 {
 660     QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
 661
 662     ChannelConfigWarning new_warning = None;
 663
 664     if (bankModeCombo != NULL) {
 665         int bankNumber = 1;
 666         QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 667         foreach(OutputBankControls controls, m_banks) {
 668             if (controls.modeCombo() == bankModeCombo) {
 669                 bool enabled = bankModeCombo->currentIndex() == ActuatorSettings::BANKMODE_PWM;
 670                 controls.rateCombo()->setEnabled(enabled);
 671                 controls.rateCombo()->setCurrentIndex(enabled ? 1 : 0);
 672                 foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 673                     if (outputChannelForm->bank().toInt() == bankNumber) {
 674                         setChannelLimits(outputChannelForm, &controls);
 675                         ChannelConfigWarning warning = checkChannelConfig(outputChannelForm, &controls);
 676                         if (warning > None) {
 677                             new_warning = warning;
 678                         }
 679                     }
 680                 }
 681                 break;
 682             }
 683
 684             bankNumber++;
 685         }
 686     }
 687
 688     updateChannelConfigWarning(new_warning);
 689 }
 690
 691 bool ConfigOutputWidget::checkOutputConfig()
 692 {
 693     ChannelConfigWarning new_warning = None;
 694
 695     int bankNumber = 1;
 696
 697     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 698
 699     foreach(OutputBankControls controls, m_banks) {
 700         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 701             if (!outputChannelForm->isDisabledOutput() && (outputChannelForm->bank().toInt() == bankNumber)) {
 702                 ChannelConfigWarning warning = checkChannelConfig(outputChannelForm, &controls);
 703                 if (warning > None) {
 704                     new_warning = warning;
 705                 }
 706             }
 707         }
 708
 709         bankNumber++;
 710     }
 711
 712     updateChannelConfigWarning(new_warning);
 713
 714     // Emit signal to be received by Input tab
 715     emit outputConfigSafeChanged(new_warning == None);
 716
 717     return new_warning == None;
 718 }
 719
 720 void ConfigOutputWidget::stopTests()
 721 {
 722     m_ui->channelOutTest->setChecked(false);
 723     channelTestsStarted = false;
 724 }
 725
 726 void ConfigOutputWidget::updateBoardWarnings(UAVObject *)
 727 {
 728     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 729     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 730
 731     if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
 732         switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
 733         case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
 734             setBoardWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
 735                                "When using Receiver Port setting 'PPM_PIN8+OneShot' "
 736                                "<b><font color='%1'>Bank %2</font></b> must be set to PWM")
 737                             .arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
 738             return;
 739         }
 740     }
 741     setBoardWarning(NULL);
 742 }
 743
 744 void ConfigOutputWidget::updateChannelConfigWarning(ChannelConfigWarning warning)
 745 {
 746     QString warning_str;
 747
 748     if (warning == BiDirectionalDShotNotSupported) {
 749         // TODO: Implement bi-directional DShot
 750         warning_str = "There is <b>one reversible motor</b> using DShot is configured.<br>"
 751                       "Bi-directional DShot is currently not supported. Please use PWM, OneShotXXX or MultiShot.";
 752     }
 753
 754     if (warning == IsNormalMotorCheckNeutral) {
 755         warning_str = "There is at least one pretty <b>high neutral value</b> set in your configuration.<br>"
 756                       "Make sure all ESCs are calibrated and no mechanical stress in all motors.";
 757     }
 758
 759     if (warning == IsReversibleMotorCheckNeutral) {
 760         warning_str = "A least one <b>reversible motor</b> is configured.<br>"
 761                       "Make sure a appropriate neutral value is set before saving and applying power to the vehicule.";
 762     }
 763
 764     if (warning == CannotDriveServo) {
 765         warning_str = "One bank cannot drive a <b>servo output</b>!<br>"
 766                       "You must use PWM for this bank or move the servo output to another compatible bank.";
 767     }
 768
 769     setConfigWarning(warning_str);
 770 }
 771
 772 void ConfigOutputWidget::setBanksEnabled(bool state)
 773 {
 774     // Disable/Enable banks
 775     for (int i = 0; i < m_banks.count(); i++) {
 776         OutputBankControls controls = m_banks.at(i);
 777         if (i < activeBanksCount) {
 778             controls.modeCombo()->setEnabled(state);
 779             controls.rateCombo()->setEnabled(state);
 780         } else {
 781             controls.modeCombo()->setEnabled(false);
 782             controls.rateCombo()->setEnabled(false);
 783         }
 784     }
 785 }
 786
 787 void ConfigOutputWidget::setBoardWarning(QString message)
 788 {
 789     m_ui->boardWarningFrame->setVisible(!message.isNull());
 790     m_ui->boardWarningPic->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 791     m_ui->boardWarningTxt->setText(message);
 792 }
 793
 794 void ConfigOutputWidget::setConfigWarning(QString message)
 795 {
 796     m_ui->configWarningFrame->setVisible(!message.isNull());
 797     m_ui->configWarningPic->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 798     m_ui->configWarningTxt->setText(message);
 799 }
 800
 801 void ConfigOutputWidget::setInputCalibrationState(bool started)
 802 {
 803     inputCalibrationStarted = started;
 804
 805     // Disable UI when a input calibration is started
 806     // so user cannot manipulate settings.
 807     enableControls(!started);
 808     setBanksEnabled(!started);
 809     // Disable ASWA
 810     m_ui->spinningArmed->setEnabled(!started);
 811     m_ui->alwaysStabilizedSwitch->setEnabled((m_ui->spinningArmed->isChecked()) && !started);
 812     m_ui->alwayStabilizedLabel1->setEnabled((m_ui->spinningArmed->isChecked()) && !started);
 813     m_ui->alwayStabilizedLabel2->setEnabled((m_ui->spinningArmed->isChecked()) && !started);
 814
 815     // Disable every channel form when needed
 816     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
 817         OutputChannelForm *form = getOutputChannelForm(i);
 818         form->ui->actuatorRev->setChecked(false);
 819         form->ui->actuatorLink->setChecked(false);
 820         form->setChannelRangeEnabled(!started);
 821         form->setControlsEnabled(!started);
 822     }
 823 }
 824
 825 OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) :
 826     m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo)
 827 {}
 828
 829 OutputBankControls::~OutputBankControls()
 830 {}