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
  61 #define DEFAULT_MINOUTPUT_VALUE 1000
  62
  63 // Servo settings
  64 #define SERVO_MAXOUTPUT_RANGE   2500
  65 #define SERVO_MINOUTPUT_RANGE   500
  66 #define SERVO_MAXOUTPUT_VALUE   2000
  67 #define SERVO_MINOUTPUT_VALUE   1000
  68 #define SERVO_NEUTRAL_VALUE     1500
  69
  70 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
  71 {
  72     m_ui = new Ui_OutputWidget();
  73     m_ui->setupUi(this);
  74
  75     // must be done before auto binding !
  76     setWikiURL("Output+Configuration");
  77
  78     addAutoBindings();
  79
  80     m_ui->gvFrame->setVisible(false);
  81
  82     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  83     UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
  84     connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
  85
  86     connect(m_ui->channelOutTest, SIGNAL(clicked(bool)), this, SLOT(runChannelTests(bool)));
  87
  88     // Configure the task widget
  89
  90     // Track the ActuatorSettings object
  91     addUAVObject("ActuatorSettings");
  92
  93     // NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
  94     // Register for ActuatorSettings changes:
  95     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
  96         OutputChannelForm *form = new OutputChannelForm(i, this);
  97         form->moveTo(*(m_ui->channelLayout));
  98
  99         connect(m_ui->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
 100         connect(form, SIGNAL(channelChanged(int, int)), this, SLOT(sendChannelTest(int, int)));
 101
 102         addWidget(form->ui->actuatorMin);
 103         addWidget(form->ui->actuatorNeutral);
 104         addWidget(form->ui->actuatorMax);
 105         addWidget(form->ui->actuatorRev);
 106         addWidget(form->ui->actuatorLink);
 107     }
 108
 109     // Associate the buttons with their UAVO fields
 110     addWidget(m_ui->spinningArmed);
 111     connect(m_ui->spinningArmed, SIGNAL(clicked(bool)), this, SLOT(updateSpinStabilizeCheckComboBoxes()));
 112
 113     addUAVObject("FlightModeSettings");
 114     addWidgetBinding("FlightModeSettings", "AlwaysStabilizeWhenArmedSwitch", m_ui->alwaysStabilizedSwitch);
 115
 116     connect(FlightStatus::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateAlwaysStabilizeStatus()));
 117
 118     MixerSettings *mixer = MixerSettings::GetInstance(getObjectManager());
 119     Q_ASSERT(mixer);
 120     m_banks << OutputBankControls(mixer, m_ui->chBank1, QColor("#C6ECAE"), m_ui->cb_outputRate1, m_ui->cb_outputMode1);
 121     m_banks << OutputBankControls(mixer, m_ui->chBank2, QColor("#91E5D3"), m_ui->cb_outputRate2, m_ui->cb_outputMode2);
 122     m_banks << OutputBankControls(mixer, m_ui->chBank3, QColor("#FCEC52"), m_ui->cb_outputRate3, m_ui->cb_outputMode3);
 123     m_banks << OutputBankControls(mixer, m_ui->chBank4, QColor("#C3A8FF"), m_ui->cb_outputRate4, m_ui->cb_outputMode4);
 124     m_banks << OutputBankControls(mixer, m_ui->chBank5, QColor("#F7F7F2"), m_ui->cb_outputRate5, m_ui->cb_outputMode5);
 125     m_banks << OutputBankControls(mixer, m_ui->chBank6, QColor("#FF9F51"), m_ui->cb_outputRate6, m_ui->cb_outputMode6);
 126
 127     QList<int> rates;
 128     rates << 50 << 60 << 125 << 165 << 270 << 330 << 400 << 490;
 129     int i = 0;
 130     foreach(OutputBankControls controls, m_banks) {
 131         addWidget(controls.rateCombo());
 132
 133         controls.rateCombo()->addItem(tr("-"), QVariant(0));
 134         controls.rateCombo()->model()->setData(controls.rateCombo()->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
 135         foreach(int rate, rates) {
 136             controls.rateCombo()->addItem(tr("%1 Hz").arg(rate), rate);
 137         }
 138
 139         addWidgetBinding("ActuatorSettings", "BankMode", controls.modeCombo(), i++, 0, true);
 140         connect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 141     }
 142
 143     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 144     connect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
 145
 146     // TODO why do we do that ?
 147     disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
 148 }
 149
 150 ConfigOutputWidget::~ConfigOutputWidget()
 151 {
 152     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 153
 154     disconnect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
 155     foreach(OutputBankControls controls, m_banks) {
 156         disconnect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 157     }
 158 }
 159
 160 void ConfigOutputWidget::enableControls(bool enable)
 161 {
 162     ConfigTaskWidget::enableControls(enable);
 163
 164     if (!enable) {
 165         m_ui->channelOutTest->setChecked(false);
 166     }
 167     m_ui->channelOutTest->setEnabled(enable);
 168 }
 169
 170 /**
 171    Force update all channels with the values in the OutputChannelForms.
 172  */
 173 void ConfigOutputWidget::sendAllChannelTests()
 174 {
 175     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
 176         OutputChannelForm *form = getOutputChannelForm(i);
 177         sendChannelTest(i, form->neutral());
 178     }
 179 }
 180
 181 /**
 182    Toggles the channel testing mode by making the GCS take over
 183    the ActuatorCommand objects
 184  */
 185 void ConfigOutputWidget::runChannelTests(bool state)
 186 {
 187     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 188     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 189
 190     if (state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
 191         QMessageBox mbox;
 192         mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. "
 193                                 "Please fix these before testing outputs.")));
 194         mbox.setStandardButtons(QMessageBox::Ok);
 195         mbox.exec();
 196
 197         // Unfortunately must cache this since callback will reoccur
 198         m_accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
 199
 200         m_ui->channelOutTest->setChecked(false);
 201         return;
 202     }
 203
 204     // Confirm this is definitely what they want
 205     if (state) {
 206         QMessageBox mbox;
 207         mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter."
 208                                 "It is recommended to remove any blades from motors. Are you sure you want to do this?")));
 209         mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
 210         int retval = mbox.exec();
 211         if (retval != QMessageBox::Yes) {
 212             state = false;
 213             qDebug() << "Cancelled";
 214             m_ui->channelOutTest->setChecked(false);
 215             return;
 216         }
 217     }
 218
 219     ActuatorCommand *obj = ActuatorCommand::GetInstance(getObjectManager());
 220     UAVObject::Metadata mdata = obj->getMetadata();
 221     if (state) {
 222         m_accInitialData = mdata;
 223         UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
 224         UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 225         UAVObject::SetGcsTelemetryAcked(mdata, false);
 226         UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 227         mdata.gcsTelemetryUpdatePeriod = 100;
 228     } else {
 229         mdata = m_accInitialData; // Restore metadata
 230     }
 231     obj->setMetadata(mdata);
 232     obj->updated();
 233
 234     // Setup the correct initial channel values when the channel testing mode is turned on.
 235     if (state) {
 236         sendAllChannelTests();
 237     }
 238
 239     // Add info at end
 240     if (!state && isDirty()) {
 241         QMessageBox mbox;
 242         mbox.setText(QString(tr("You may want to save your neutral settings.")));
 243         mbox.setStandardButtons(QMessageBox::Ok);
 244         mbox.setIcon(QMessageBox::Information);
 245         mbox.exec();
 246     }
 247 }
 248
 249 OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const
 250 {
 251     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 252     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 253         if (outputChannelForm->index() == index) {
 254             return outputChannelForm;
 255         }
 256     }
 257
 258     // no OutputChannelForm found with given index
 259     return NULL;
 260 }
 261
 262 /**
 263  * Set the label for a channel output assignement
 264  */
 265 void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString &str)
 266 {
 267     // FIXME: use signal/ slot approach
 268     UAVObjectField *field = obj->getField(str);
 269     QStringList options   = field->getOptions();
 270     int index = options.indexOf(field->getValue().toString());
 271
 272     OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
 273
 274     if (outputChannelForm) {
 275         outputChannelForm->setName(str);
 276     }
 277 }
 278
 279 /**
 280    Sends the channel value to the UAV to move the servo.
 281    Returns immediately if we are not in testing mode
 282  */
 283 void ConfigOutputWidget::sendChannelTest(int index, int value)
 284 {
 285     if (!m_ui->channelOutTest->isChecked()) {
 286         return;
 287     }
 288
 289     if (index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
 290         return;
 291     }
 292
 293     ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
 294     Q_ASSERT(actuatorCommand);
 295     ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
 296     actuatorCommandFields.Channel[index] = value;
 297     actuatorCommand->setData(actuatorCommandFields);
 298 }
 299
 300 void ConfigOutputWidget::setColor(QWidget *widget, const QColor color)
 301 {
 302     QPalette p(palette());
 303
 304     p.setColor(QPalette::Background, color);
 305     p.setColor(QPalette::Base, color);
 306     p.setColor(QPalette::Active, QPalette::Button, color);
 307     p.setColor(QPalette::Inactive, QPalette::Button, color);
 308     widget->setAutoFillBackground(true);
 309     widget->setPalette(p);
 310 }
 311
 312 /********************************
 313  *  Output settings
 314  *******************************/
 315
 316 /**
 317    Request the current config from the board (RC Output)
 318  */
 319 void ConfigOutputWidget::refreshWidgetsValuesImpl(UAVObject *obj)
 320 {
 321     Q_UNUSED(obj);
 322
 323     // Get Actuator Settings
 324     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 325
 326     Q_ASSERT(actuatorSettings);
 327     ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 328
 329     // Get channel descriptions
 330     QStringList channelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
 331
 332     // Initialize output forms
 333     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 334     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 335         outputChannelForm->setName(channelDesc[outputChannelForm->index()]);
 336
 337         // init min,max,neutral
 338         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 339         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 340         outputChannelForm->setRange(minValue, maxValue);
 341
 342         int neutral  = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 343         outputChannelForm->setNeutral(neutral);
 344     }
 345
 346     // Get the SpinWhileArmed setting
 347     m_ui->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
 348
 349     for (int i = 0; i < m_banks.count(); i++) {
 350         OutputBankControls controls = m_banks.at(i);
 351         // Reset to all disabled
 352         controls.label()->setText("-");
 353
 354         controls.rateCombo()->setEnabled(false);
 355         setColor(controls.rateCombo(), palette().color(QPalette::Background));
 356         controls.rateCombo()->setCurrentIndex(0);
 357
 358         controls.modeCombo()->setEnabled(false);
 359         setColor(controls.modeCombo(), palette().color(QPalette::Background));
 360     }
 361
 362     // Get connected board model
 363     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 364     Q_ASSERT(pm);
 365     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
 366     Q_ASSERT(utilMngr);
 367     QStringList bankLabels;
 368     QList<int> channelBanks;
 369
 370     if (utilMngr) {
 371         int board = utilMngr->getBoardModel();
 372         // Setup labels and combos for banks according to board type
 373         if ((board & 0xff00) == 0x0400) {
 374             // Coptercontrol family of boards 4 timer banks
 375             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
 376             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
 377         } else if (board == 0x0903) {
 378             // Revolution family of boards 6 timer banks
 379             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
 380             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
 381         } else if (board == 0x0905) {
 382             // Revolution Nano
 383             bankLabels << "1 (1)" << "2 (2,7,11)" << "3 (3)" << "4 (4)" << "5 (5-6)" << "6 (8-10,12)";
 384             channelBanks << 1 << 2 << 3 << 4 << 5 << 5 << 2 << 6 << 6 << 6 << 2 << 6;
 385         } else if (board == 0x9201) {
 386             // Sparky2
 387             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7-8)" << "6 (9-10)";
 388             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 5 << 6 << 6;
 389         } else if (board == 0x1001) {
 390             // SPRacingF3
 391             bankLabels << "1 (1-3,7)" << "2 (4,8)" << "3 (5)" << "4 (6)";
 392             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 1 << 2;
 393         } else if (board == 0x1002 || board == 0x1003) {
 394             // SPRacingF3_EVO, NucleoF303RE
 395             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5-8)";
 396             channelBanks << 1 << 1 << 1 << 2 << 3 << 3 << 3 << 3;
 397         } else if (board == 0x1005) { // PikoBLX
 398             bankLabels << "1 (1-4)" << "2 (5-6)" << "3 (7)" << "4 (8)";
 399             channelBanks << 1 << 1 << 1 << 1 << 2 << 2 << 3 << 4;
 400         } else if (board == 0x1006) { // tinyFISH
 401             bankLabels << "1 (1)" << "2 (2)" << "3 (3-4)" << "4 (5-6)";
 402             channelBanks << 1 << 2 << 3 << 3 << 4 << 4;
 403         }
 404     }
 405
 406     int i = 0;
 407     foreach(QString banklabel, bankLabels) {
 408         OutputBankControls controls = m_banks.at(i);
 409
 410         controls.label()->setText(banklabel);
 411         int index = controls.rateCombo()->findData(actuatorSettingsData.BankUpdateFreq[i]);
 412         if (index == -1) {
 413             controls.rateCombo()->addItem(tr("%1 Hz").arg(actuatorSettingsData.BankUpdateFreq[i]), actuatorSettingsData.BankUpdateFreq[i]);
 414         }
 415         controls.rateCombo()->setCurrentIndex(index);
 416         controls.rateCombo()->setEnabled(controls.modeCombo()->currentIndex() == ActuatorSettings::BANKMODE_PWM);
 417         setColor(controls.rateCombo(), controls.color());
 418         controls.modeCombo()->setEnabled(true);
 419         setColor(controls.modeCombo(), controls.color());
 420         i++;
 421     }
 422
 423     // Get Channel ranges:
 424     i = 0;
 425     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 426         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 427         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 428
 429         if (channelBanks.count() > i) {
 430             int bankNumber = channelBanks.at(i);
 431             OutputBankControls bankControls = m_banks.at(bankNumber - 1);
 432
 433             setChannelLimits(outputChannelForm, &bankControls);
 434
 435             outputChannelForm->setBank(QString::number(bankNumber));
 436             outputChannelForm->setColor(bankControls.color());
 437
 438             i++;
 439         }
 440         outputChannelForm->setRange(minValue, maxValue);
 441         int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 442         outputChannelForm->setNeutral(neutral);
 443     }
 444
 445     updateSpinStabilizeCheckComboBoxes();
 446 }
 447
 448 /**
 449  * Sends the config to the board, without saving to the SD card (RC Output)
 450  */
 451 void ConfigOutputWidget::updateObjectsFromWidgetsImpl()
 452 {
 453     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 454
 455     Q_ASSERT(actuatorSettings);
 456     if (actuatorSettings) {
 457         ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 458
 459         // Set channel ranges
 460         QList<OutputChannelForm *> outputChannelForms     = findChildren<OutputChannelForm *>();
 461         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 462             actuatorSettingsData.ChannelMax[outputChannelForm->index()]     = outputChannelForm->max();
 463             actuatorSettingsData.ChannelMin[outputChannelForm->index()]     = outputChannelForm->min();
 464             actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
 465         }
 466
 467         // Set update rates
 468         actuatorSettingsData.BankUpdateFreq[0]    = m_ui->cb_outputRate1->currentData().toUInt();
 469         actuatorSettingsData.BankUpdateFreq[1]    = m_ui->cb_outputRate2->currentData().toUInt();
 470         actuatorSettingsData.BankUpdateFreq[2]    = m_ui->cb_outputRate3->currentData().toUInt();
 471         actuatorSettingsData.BankUpdateFreq[3]    = m_ui->cb_outputRate4->currentData().toUInt();
 472         actuatorSettingsData.BankUpdateFreq[4]    = m_ui->cb_outputRate5->currentData().toUInt();
 473         actuatorSettingsData.BankUpdateFreq[5]    = m_ui->cb_outputRate6->currentData().toUInt();
 474
 475         actuatorSettingsData.MotorsSpinWhileArmed = m_ui->spinningArmed->isChecked() ?
 476                                                     ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
 477                                                     ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
 478
 479         // Apply settings
 480         UAVObjectUpdaterHelper updateHelper;
 481         actuatorSettings->setData(actuatorSettingsData, false);
 482         updateHelper.doObjectAndWait(actuatorSettings);
 483     }
 484
 485     FlightModeSettings *flightModeSettings = FlightModeSettings::GetInstance(getObjectManager());
 486     Q_ASSERT(flightModeSettings);
 487
 488     if (flightModeSettings) {
 489         FlightModeSettings::DataFields flightModeSettingsData = flightModeSettings->getData();
 490         flightModeSettingsData.AlwaysStabilizeWhenArmedSwitch = m_ui->alwaysStabilizedSwitch->currentIndex();
 491
 492         // Apply settings
 493         flightModeSettings->setData(flightModeSettingsData);
 494     }
 495 }
 496
 497 void ConfigOutputWidget::updateSpinStabilizeCheckComboBoxes()
 498 {
 499     m_ui->alwayStabilizedLabel1->setEnabled(m_ui->spinningArmed->isChecked());
 500     m_ui->alwayStabilizedLabel2->setEnabled(m_ui->spinningArmed->isChecked());
 501     m_ui->alwaysStabilizedSwitch->setEnabled(m_ui->spinningArmed->isChecked());
 502
 503     if (!m_ui->spinningArmed->isChecked()) {
 504         m_ui->alwaysStabilizedSwitch->setCurrentIndex(FlightModeSettings::ALWAYSSTABILIZEWHENARMEDSWITCH_DISABLED);
 505     }
 506 }
 507
 508 void ConfigOutputWidget::updateAlwaysStabilizeStatus()
 509 {
 510     FlightStatus *flightStatusObj = FlightStatus::GetInstance(getObjectManager());
 511     FlightStatus::DataFields flightStatus = flightStatusObj->getData();
 512
 513     if (flightStatus.AlwaysStabilizeWhenArmed == FlightStatus::ALWAYSSTABILIZEWHENARMED_TRUE) {
 514         m_ui->alwayStabilizedLabel2->setText(tr("AlwaysStabilizeWhenArmed is <b>ACTIVE</b>. This prevents arming!."));
 515     } else {
 516         m_ui->alwayStabilizedLabel2->setText(tr("(Really be careful!)."));
 517     }
 518 }
 519
 520 void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls)
 521 {
 522     // Set UI limits according to the bankmode and destination
 523     switch (bankControls->modeCombo()->currentIndex()) {
 524     case ActuatorSettings::BANKMODE_DSHOT:
 525         // 0 - 2000 UI limits, DShot min value is fixed to zero
 526         if (channelForm->isServoOutput()) {
 527             bank_mode_servo_warning = "DShot";
 528             break;
 529         }
 530         channelForm->setLimits(DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
 531         channelForm->setRange(DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
 532         channelForm->setNeutral(DSHOT_MINTOUTPUT_RANGE);
 533         break;
 534     case ActuatorSettings::BANKMODE_PWMSYNC:
 535         // 900 - 1900 UI limits
 536         // Default values 1000 - 1900
 537         channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE);
 538         channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
 539         channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
 540         if (channelForm->isServoOutput()) {
 541             // Servo: Some of them can handle PWMSync, 500 - 1900 UI limits
 542             // Default values 1000 - 1900 + neutral 1500
 543             channelForm->setRange(SERVO_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
 544             channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
 545         }
 546         break;
 547     case ActuatorSettings::BANKMODE_PWM:
 548         // PWM motor outputs fall to default
 549         if (channelForm->isServoOutput()) {
 550             // Servo: 500 - 2500 UI limits
 551             // Default values 1000 - 2000 + neutral 1500
 552             channelForm->setLimits(SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE, SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE);
 553             channelForm->setRange(SERVO_MINOUTPUT_VALUE, SERVO_MAXOUTPUT_VALUE);
 554             channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
 555             break;
 556         }
 557     case ActuatorSettings::BANKMODE_ONESHOT125:
 558         if (channelForm->isServoOutput()) {
 559             bank_mode_servo_warning = "OneShot125";
 560             break;
 561         }
 562     case ActuatorSettings::BANKMODE_ONESHOT42:
 563         if (channelForm->isServoOutput()) {
 564             bank_mode_servo_warning = "OneShot42";
 565             break;
 566         }
 567     case ActuatorSettings::BANKMODE_MULTISHOT:
 568         if (channelForm->isServoOutput()) {
 569             bank_mode_servo_warning = "MultiShot";
 570             break;
 571         }
 572     default:
 573         // Motors 900 - 2000 UI limits
 574         // Default values 1000 - 2000, neutral set to min
 575         channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE);
 576         channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, DEFAULT_MAXOUTPUT_RANGE);
 577         channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
 578         break;
 579     }
 580 }
 581
 582 void ConfigOutputWidget::onBankTypeChange()
 583 {
 584     QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
 585
 586     bank_mode_servo_warning = "";
 587
 588     if (bankModeCombo != NULL) {
 589         int bankNumber = 1;
 590         QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 591         foreach(OutputBankControls controls, m_banks) {
 592             if (controls.modeCombo() == bankModeCombo) {
 593                 bool enabled = bankModeCombo->currentIndex() == ActuatorSettings::BANKMODE_PWM;
 594                 controls.rateCombo()->setEnabled(enabled);
 595                 controls.rateCombo()->setCurrentIndex(enabled ? 1 : 0);
 596                 foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 597                     if (outputChannelForm->bank().toInt() == bankNumber) {
 598                         setChannelLimits(outputChannelForm, &controls);
 599                     }
 600                 }
 601                 break;
 602             }
 603
 604             bankNumber++;
 605         }
 606     }
 607 }
 608
 609 void ConfigOutputWidget::stopTests()
 610 {
 611     m_ui->channelOutTest->setChecked(false);
 612 }
 613
 614 void ConfigOutputWidget::updateWarnings(UAVObject *)
 615 {
 616     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 617     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 618
 619     if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
 620         switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
 621         case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
 622             setWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
 623                           "When using Receiver Port setting 'PPM_PIN8+OneShot' "
 624                           "<b><font color='%1'>Bank %2</font></b> must be set to PWM")
 625                        .arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
 626             return;
 627         }
 628     }
 629     if (bank_mode_servo_warning != "") {
 630         QString servo_warning_str = QString("Bank using <b>%1</b> cannot drive a <b>servo output!</b>"
 631                                     "<p>You must use PWM for this Bank or move the servo output to another compatible Bank.</p>").arg(bank_mode_servo_warning);
 632         setWarning(servo_warning_str);
 633         return;
 634     }
 635     setWarning(NULL);
 636 }
 637
 638 void ConfigOutputWidget::setWarning(QString message)
 639 {
 640     m_ui->gvFrame->setVisible(!message.isNull());
 641     m_ui->picWarning->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 642     m_ui->txtWarning->setText(message);
 643 }
 644
 645
 646 OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) :
 647     m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo)
 648 {}
 649
 650 OutputBankControls::~OutputBankControls()
 651 {}