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     // TODO why do we do that ?
 150     disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
 151 }
 152
 153 ConfigOutputWidget::~ConfigOutputWidget()
 154 {
 155     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 156
 157     disconnect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateBoardWarnings(UAVObject *)));
 158     foreach(OutputBankControls controls, m_banks) {
 159         disconnect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 160     }
 161 }
 162
 163 void ConfigOutputWidget::enableControls(bool enable)
 164 {
 165     ConfigTaskWidget::enableControls(enable);
 166
 167     if (!enable) {
 168         m_ui->channelOutTest->setChecked(false);
 169     }
 170     m_ui->channelOutTest->setEnabled(enable);
 171 }
 172
 173 /**
 174    Force update all channels with the values in the OutputChannelForms.
 175  */
 176 void ConfigOutputWidget::sendAllChannelTests()
 177 {
 178     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
 179         OutputChannelForm *form = getOutputChannelForm(i);
 180         sendChannelTest(i, form->neutral());
 181     }
 182 }
 183
 184 /**
 185    Toggles the channel testing mode by making the GCS take over
 186    the ActuatorCommand objects
 187  */
 188 void ConfigOutputWidget::runChannelTests(bool state)
 189 {
 190     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 191     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 192
 193     if (state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
 194         QMessageBox mbox;
 195         mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. "
 196                                 "Please fix these before testing outputs.")));
 197         mbox.setStandardButtons(QMessageBox::Ok);
 198         mbox.exec();
 199
 200         // Unfortunately must cache this since callback will reoccur
 201         m_accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
 202
 203         m_ui->channelOutTest->setChecked(false);
 204         return;
 205     }
 206
 207     // Confirm this is definitely what they want
 208     if (state) {
 209         QMessageBox mbox;
 210         mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter."
 211                                 "It is recommended to remove any blades from motors. Are you sure you want to do this?")));
 212         mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
 213         int retval = mbox.exec();
 214         if (retval != QMessageBox::Yes) {
 215             state = false;
 216             qDebug() << "Cancelled";
 217             m_ui->channelOutTest->setChecked(false);
 218             return;
 219         }
 220     }
 221
 222     ActuatorCommand *obj = ActuatorCommand::GetInstance(getObjectManager());
 223     UAVObject::Metadata mdata = obj->getMetadata();
 224     if (state) {
 225         m_accInitialData = mdata;
 226         UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
 227         UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 228         UAVObject::SetGcsTelemetryAcked(mdata, false);
 229         UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 230         mdata.gcsTelemetryUpdatePeriod = 100;
 231     } else {
 232         mdata = m_accInitialData; // Restore metadata
 233     }
 234     obj->setMetadata(mdata);
 235     obj->updated();
 236
 237     // Setup the correct initial channel values when the channel testing mode is turned on.
 238     if (state) {
 239         sendAllChannelTests();
 240     }
 241
 242     // Add info at end
 243     if (!state && isDirty()) {
 244         QMessageBox mbox;
 245         mbox.setText(QString(tr("You may want to save your neutral settings.")));
 246         mbox.setStandardButtons(QMessageBox::Ok);
 247         mbox.setIcon(QMessageBox::Information);
 248         mbox.exec();
 249     }
 250 }
 251
 252 OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const
 253 {
 254     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 255     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 256         if (outputChannelForm->index() == index) {
 257             return outputChannelForm;
 258         }
 259     }
 260
 261     // no OutputChannelForm found with given index
 262     return NULL;
 263 }
 264
 265 /**
 266  * Set the label for a channel output assignement
 267  */
 268 void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString &str)
 269 {
 270     // FIXME: use signal/ slot approach
 271     UAVObjectField *field = obj->getField(str);
 272     QStringList options   = field->getOptions();
 273     int index = options.indexOf(field->getValue().toString());
 274
 275     OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
 276
 277     if (outputChannelForm) {
 278         outputChannelForm->setName(str);
 279     }
 280 }
 281
 282 /**
 283    Sends the channel value to the UAV to move the servo.
 284    Returns immediately if we are not in testing mode
 285  */
 286 void ConfigOutputWidget::sendChannelTest(int index, int value)
 287 {
 288     if (!m_ui->channelOutTest->isChecked()) {
 289         return;
 290     }
 291
 292     if (index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
 293         return;
 294     }
 295
 296     ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
 297     Q_ASSERT(actuatorCommand);
 298     ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
 299     actuatorCommandFields.Channel[index] = value;
 300     actuatorCommand->setData(actuatorCommandFields);
 301 }
 302
 303 void ConfigOutputWidget::setColor(QWidget *widget, const QColor color)
 304 {
 305     QPalette p(palette());
 306
 307     p.setColor(QPalette::Background, color);
 308     p.setColor(QPalette::Base, color);
 309     p.setColor(QPalette::Active, QPalette::Button, color);
 310     p.setColor(QPalette::Inactive, QPalette::Button, color);
 311     widget->setAutoFillBackground(true);
 312     widget->setPalette(p);
 313 }
 314
 315 /********************************
 316  *  Output settings
 317  *******************************/
 318
 319 /**
 320    Request the current config from the board (RC Output)
 321  */
 322 void ConfigOutputWidget::refreshWidgetsValuesImpl(UAVObject *obj)
 323 {
 324     Q_UNUSED(obj);
 325
 326     // Get Actuator Settings
 327     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 328
 329     Q_ASSERT(actuatorSettings);
 330     ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 331
 332     // Get channel descriptions
 333     QStringList channelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
 334
 335     // Initialize output forms
 336     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 337     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 338         outputChannelForm->setName(channelDesc[outputChannelForm->index()]);
 339
 340         // init min,max,neutral
 341         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 342         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 343         outputChannelForm->setRange(minValue, maxValue);
 344
 345         int neutral  = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 346         outputChannelForm->setNeutral(neutral);
 347     }
 348
 349     // Get the SpinWhileArmed setting
 350     m_ui->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
 351
 352     for (int i = 0; i < m_banks.count(); i++) {
 353         OutputBankControls controls = m_banks.at(i);
 354         // Reset to all disabled
 355         controls.label()->setText("-");
 356
 357         controls.rateCombo()->setEnabled(false);
 358         setColor(controls.rateCombo(), palette().color(QPalette::Background));
 359         controls.rateCombo()->setCurrentIndex(0);
 360
 361         controls.modeCombo()->setEnabled(false);
 362         setColor(controls.modeCombo(), palette().color(QPalette::Background));
 363     }
 364
 365     // Get connected board model
 366     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 367     Q_ASSERT(pm);
 368     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
 369     Q_ASSERT(utilMngr);
 370     QStringList bankLabels;
 371     QList<int> channelBanks;
 372
 373     if (utilMngr) {
 374         int board = utilMngr->getBoardModel();
 375         // Setup labels and combos for banks according to board type
 376         if ((board & 0xff00) == 0x0400) {
 377             // Coptercontrol family of boards 4 timer banks
 378             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
 379             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
 380         } else if (board == 0x0903) {
 381             // Revolution family of boards 6 timer banks
 382             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
 383             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
 384         } else if (board == 0x0905) {
 385             // Revolution Nano
 386             bankLabels << "1 (1)" << "2 (2,7,11)" << "3 (3)" << "4 (4)" << "5 (5-6)" << "6 (8-10,12)";
 387             channelBanks << 1 << 2 << 3 << 4 << 5 << 5 << 2 << 6 << 6 << 6 << 2 << 6;
 388         } else if (board == 0x9201) {
 389             // Sparky2
 390             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7-8)" << "6 (9-10)";
 391             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 5 << 6 << 6;
 392         } else if (board == 0x1001) {
 393             // SPRacingF3
 394             bankLabels << "1 (1-3,7)" << "2 (4,8)" << "3 (5)" << "4 (6)";
 395             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 1 << 2;
 396         } else if (board == 0x1002 || board == 0x1003) {
 397             // SPRacingF3_EVO, NucleoF303RE
 398             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5-8)";
 399             channelBanks << 1 << 1 << 1 << 2 << 3 << 3 << 3 << 3;
 400         } else if (board == 0x1005) { // PikoBLX
 401             bankLabels << "1 (1-4)" << "2 (5-6)" << "3 (7)" << "4 (8)";
 402             channelBanks << 1 << 1 << 1 << 1 << 2 << 2 << 3 << 4;
 403         } else if (board == 0x1006) { // tinyFISH
 404             bankLabels << "1 (1)" << "2 (2)" << "3 (3-4)" << "4 (5-6)";
 405             channelBanks << 1 << 2 << 3 << 3 << 4 << 4;
 406         }
 407     }
 408
 409     int i = 0;
 410     foreach(QString banklabel, bankLabels) {
 411         OutputBankControls controls = m_banks.at(i);
 412
 413         controls.label()->setText(banklabel);
 414         int index = controls.rateCombo()->findData(actuatorSettingsData.BankUpdateFreq[i]);
 415         if (index == -1) {
 416             controls.rateCombo()->addItem(tr("%1 Hz").arg(actuatorSettingsData.BankUpdateFreq[i]), actuatorSettingsData.BankUpdateFreq[i]);
 417         }
 418         controls.rateCombo()->setCurrentIndex(index);
 419         controls.rateCombo()->setEnabled(controls.modeCombo()->currentIndex() == ActuatorSettings::BANKMODE_PWM);
 420         setColor(controls.rateCombo(), controls.color());
 421         controls.modeCombo()->setEnabled(true);
 422         setColor(controls.modeCombo(), controls.color());
 423         i++;
 424     }
 425
 426     // Get Channel ranges:
 427     i = 0;
 428     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 429         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 430         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 431
 432         if (channelBanks.count() > i) {
 433             int bankNumber = channelBanks.at(i);
 434             OutputBankControls bankControls = m_banks.at(bankNumber - 1);
 435
 436             setChannelLimits(outputChannelForm, &bankControls);
 437
 438             outputChannelForm->setBank(QString::number(bankNumber));
 439             outputChannelForm->setColor(bankControls.color());
 440
 441             i++;
 442         }
 443         outputChannelForm->setRange(minValue, maxValue);
 444         int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 445         outputChannelForm->setNeutral(neutral);
 446     }
 447
 448     updateSpinStabilizeCheckComboBoxes();
 449     checkOutputConfig();
 450 }
 451
 452 /**
 453  * Sends the config to the board, without saving to the SD card (RC Output)
 454  */
 455 void ConfigOutputWidget::updateObjectsFromWidgetsImpl()
 456 {
 457     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 458
 459     Q_ASSERT(actuatorSettings);
 460     if (actuatorSettings) {
 461         ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 462
 463         // Set channel ranges
 464         QList<OutputChannelForm *> outputChannelForms     = findChildren<OutputChannelForm *>();
 465         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 466             actuatorSettingsData.ChannelMax[outputChannelForm->index()]     = outputChannelForm->max();
 467             actuatorSettingsData.ChannelMin[outputChannelForm->index()]     = outputChannelForm->min();
 468             actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
 469         }
 470
 471         // Set update rates
 472         actuatorSettingsData.BankUpdateFreq[0]    = m_ui->cb_outputRate1->currentData().toUInt();
 473         actuatorSettingsData.BankUpdateFreq[1]    = m_ui->cb_outputRate2->currentData().toUInt();
 474         actuatorSettingsData.BankUpdateFreq[2]    = m_ui->cb_outputRate3->currentData().toUInt();
 475         actuatorSettingsData.BankUpdateFreq[3]    = m_ui->cb_outputRate4->currentData().toUInt();
 476         actuatorSettingsData.BankUpdateFreq[4]    = m_ui->cb_outputRate5->currentData().toUInt();
 477         actuatorSettingsData.BankUpdateFreq[5]    = m_ui->cb_outputRate6->currentData().toUInt();
 478
 479         actuatorSettingsData.MotorsSpinWhileArmed = m_ui->spinningArmed->isChecked() ?
 480                                                     ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
 481                                                     ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
 482
 483         // Apply settings
 484         UAVObjectUpdaterHelper updateHelper;
 485         actuatorSettings->setData(actuatorSettingsData, false);
 486         updateHelper.doObjectAndWait(actuatorSettings);
 487     }
 488
 489     FlightModeSettings *flightModeSettings = FlightModeSettings::GetInstance(getObjectManager());
 490     Q_ASSERT(flightModeSettings);
 491
 492     if (flightModeSettings) {
 493         FlightModeSettings::DataFields flightModeSettingsData = flightModeSettings->getData();
 494         flightModeSettingsData.AlwaysStabilizeWhenArmedSwitch = m_ui->alwaysStabilizedSwitch->currentIndex();
 495
 496         // Apply settings
 497         flightModeSettings->setData(flightModeSettingsData);
 498     }
 499 }
 500
 501 void ConfigOutputWidget::updateSpinStabilizeCheckComboBoxes()
 502 {
 503     m_ui->alwayStabilizedLabel1->setEnabled(m_ui->spinningArmed->isChecked());
 504     m_ui->alwayStabilizedLabel2->setEnabled(m_ui->spinningArmed->isChecked());
 505     m_ui->alwaysStabilizedSwitch->setEnabled(m_ui->spinningArmed->isChecked());
 506
 507     if (!m_ui->spinningArmed->isChecked()) {
 508         m_ui->alwaysStabilizedSwitch->setCurrentIndex(FlightModeSettings::ALWAYSSTABILIZEWHENARMEDSWITCH_DISABLED);
 509     }
 510 }
 511
 512 void ConfigOutputWidget::updateAlwaysStabilizeStatus()
 513 {
 514     FlightStatus *flightStatusObj = FlightStatus::GetInstance(getObjectManager());
 515     FlightStatus::DataFields flightStatus = flightStatusObj->getData();
 516
 517     if (flightStatus.AlwaysStabilizeWhenArmed == FlightStatus::ALWAYSSTABILIZEWHENARMED_TRUE) {
 518         m_ui->alwayStabilizedLabel2->setText(tr("AlwaysStabilizeWhenArmed is <b>ACTIVE</b>. This prevents arming!."));
 519     } else {
 520         m_ui->alwayStabilizedLabel2->setText(tr("(Really be careful!)."));
 521     }
 522 }
 523
 524 void ConfigOutputWidget::setChannelLimits(OutputChannelForm *channelForm, OutputBankControls *bankControls)
 525 {
 526     // Set UI limits according to the bankmode and destination
 527     switch (bankControls->modeCombo()->currentIndex()) {
 528     case ActuatorSettings::BANKMODE_DSHOT:
 529         // 0 - 2000 UI limits, DShot min value is fixed to zero
 530         if (channelForm->isServoOutput()) {
 531             // Driving a servo using DShot doest not make sense so break
 532             break;
 533         }
 534         channelForm->setLimits(DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
 535         channelForm->setRange(DSHOT_MINTOUTPUT_RANGE, DSHOT_MAXOUTPUT_RANGE);
 536         channelForm->setNeutral(DSHOT_MINTOUTPUT_RANGE);
 537         break;
 538     case ActuatorSettings::BANKMODE_PWMSYNC:
 539         // 900 - 1900 UI limits
 540         // Default values 1000 - 1900
 541         channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, PWMSYNC_MAXOUTPUT_RANGE);
 542         channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
 543         channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
 544         if (channelForm->isServoOutput()) {
 545             // Servo: Some of them can handle PWMSync, 500 - 1900 UI limits
 546             // Default values 1000 - 1900 + neutral 1500
 547             channelForm->setRange(SERVO_MINOUTPUT_VALUE, PWMSYNC_MAXOUTPUT_RANGE);
 548             channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
 549         }
 550         break;
 551     case ActuatorSettings::BANKMODE_PWM:
 552         if (channelForm->isServoOutput()) {
 553             // Servo: 500 - 2500 UI limits
 554             // Default values 1000 - 2000 + neutral 1500
 555             channelForm->setLimits(SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE, SERVO_MINOUTPUT_RANGE, SERVO_MAXOUTPUT_RANGE);
 556             channelForm->setRange(SERVO_MINOUTPUT_VALUE, SERVO_MAXOUTPUT_VALUE);
 557             channelForm->setNeutral(SERVO_NEUTRAL_VALUE);
 558             break;
 559         }
 560     // PWM motor outputs fall to default
 561     case ActuatorSettings::BANKMODE_ONESHOT125:
 562     case ActuatorSettings::BANKMODE_ONESHOT42:
 563     case ActuatorSettings::BANKMODE_MULTISHOT:
 564         if (channelForm->isServoOutput()) {
 565             // Driving a servo using this mode does not make sense so break
 566             break;
 567         }
 568     default:
 569         // Motors 900 - 2000 UI limits
 570         // Default values 1000 - 2000, neutral set to min
 571         // This settings are used for PWM, OneShot125, OneShot42 and MultiShot
 572         channelForm->setLimits(DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE, DEFAULT_MINOUTPUT_RANGE, DEFAULT_MAXOUTPUT_RANGE);
 573         channelForm->setRange(DEFAULT_MINOUTPUT_VALUE, DEFAULT_MAXOUTPUT_RANGE);
 574         channelForm->setNeutral(DEFAULT_MINOUTPUT_VALUE);
 575         break;
 576     }
 577 }
 578
 579 ConfigOutputWidget::ChannelConfigWarning ConfigOutputWidget::checkChannelConfig(OutputChannelForm *channelForm, OutputBankControls *bankControls)
 580 {
 581     ChannelConfigWarning warning = None;
 582     int currentNeutralValue = channelForm->getNeutralValue();
 583
 584     // Check if RevMotor has neutral value around center
 585     if (channelForm->isReversableMotor()) {
 586         warning = IsReversibleMotorCheckNeutral;
 587         int neutralDiff = qAbs(REVMOTOR_NEUTRAL_TARGET_VALUE - currentNeutralValue);
 588         if (neutralDiff < REVMOTOR_NEUTRAL_DIFF_VALUE) {
 589             // Reset warning
 590             warning = None;
 591         }
 592     }
 593
 594     // Check if NormalMotor neutral is not too high
 595     if (channelForm->isNormalMotor()) {
 596         warning = IsNormalMotorCheckNeutral;
 597         int neutralDiff = currentNeutralValue - DEFAULT_MINOUTPUT_VALUE;
 598         if (neutralDiff < MOTOR_NEUTRAL_DIFF_VALUE) {
 599             // Reset warning
 600             warning = None;
 601         }
 602     }
 603
 604     switch (bankControls->modeCombo()->currentIndex()) {
 605     case ActuatorSettings::BANKMODE_DSHOT:
 606         if (channelForm->isServoOutput()) {
 607             warning = CannotDriveServo;
 608             // Driving a servo using DShot doest not make sense so break
 609             break;
 610         }
 611         if (channelForm->isReversableMotor()) {
 612             // Bi-directional DShot not yet supported
 613             warning = BiDirectionalDShotNotSupported;
 614         }
 615         break;
 616     case ActuatorSettings::BANKMODE_PWMSYNC:
 617         break;
 618     case ActuatorSettings::BANKMODE_PWM:
 619         break;
 620     case ActuatorSettings::BANKMODE_ONESHOT125:
 621     case ActuatorSettings::BANKMODE_ONESHOT42:
 622     case ActuatorSettings::BANKMODE_MULTISHOT:
 623         if (channelForm->isServoOutput()) {
 624             warning = CannotDriveServo;
 625             // Driving a servo using this mode does not make sense so break
 626             break;
 627         }
 628     default:
 629         break;
 630     }
 631
 632     return warning;
 633 }
 634
 635
 636 void ConfigOutputWidget::onBankTypeChange()
 637 {
 638     QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
 639
 640     ChannelConfigWarning current_warning = None;
 641     ChannelConfigWarning warning_found   = None;
 642
 643     if (bankModeCombo != NULL) {
 644         int bankNumber = 1;
 645         QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 646         foreach(OutputBankControls controls, m_banks) {
 647             if (controls.modeCombo() == bankModeCombo) {
 648                 bool enabled = bankModeCombo->currentIndex() == ActuatorSettings::BANKMODE_PWM;
 649                 controls.rateCombo()->setEnabled(enabled);
 650                 controls.rateCombo()->setCurrentIndex(enabled ? 1 : 0);
 651                 foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 652                     if (outputChannelForm->bank().toInt() == bankNumber) {
 653                         setChannelLimits(outputChannelForm, &controls);
 654                         current_warning = checkChannelConfig(outputChannelForm, &controls);
 655                         if (current_warning > None) {
 656                             warning_found = current_warning;
 657                         }
 658                     }
 659                 }
 660                 break;
 661             }
 662
 663             bankNumber++;
 664         }
 665     }
 666
 667     updateChannelConfigWarning(warning_found);
 668 }
 669
 670 bool ConfigOutputWidget::checkOutputConfig()
 671 {
 672     ChannelConfigWarning current_warning = None;
 673     ChannelConfigWarning warning_found   = None;
 674
 675     int bankNumber = 1;
 676
 677     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 678
 679     foreach(OutputBankControls controls, m_banks) {
 680         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 681             if (!outputChannelForm->isDisabledOutput() && (outputChannelForm->bank().toInt() == bankNumber)) {
 682                 current_warning = checkChannelConfig(outputChannelForm, &controls);
 683                 if (current_warning > None) {
 684                     warning_found = current_warning;
 685                 }
 686             }
 687         }
 688
 689         bankNumber++;
 690     }
 691
 692     updateChannelConfigWarning(warning_found);
 693
 694     if (warning_found > None) {
 695         return false;
 696     }
 697
 698     return true;
 699 }
 700
 701 void ConfigOutputWidget::stopTests()
 702 {
 703     m_ui->channelOutTest->setChecked(false);
 704 }
 705
 706 void ConfigOutputWidget::updateBoardWarnings(UAVObject *)
 707 {
 708     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 709     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 710
 711     if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
 712         switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
 713         case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
 714             setBoardWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
 715                                "When using Receiver Port setting 'PPM_PIN8+OneShot' "
 716                                "<b><font color='%1'>Bank %2</font></b> must be set to PWM")
 717                             .arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
 718             return;
 719         }
 720     }
 721     setBoardWarning(NULL);
 722 }
 723
 724 void ConfigOutputWidget::updateChannelConfigWarning(ChannelConfigWarning warning)
 725 {
 726     QString warning_str;
 727
 728     if (warning == BiDirectionalDShotNotSupported) {
 729         // TODO: Implement bi-directional DShot
 730         warning_str = "There is at least <b>one reversable motor using DShot</b> in your configuration.<br>"
 731                       "Bi-directional DShot is not currently supported, you should use PWM, OneShotXXX or MultiShot.";
 732     }
 733
 734     if (warning == IsNormalMotorCheckNeutral) {
 735         warning_str = "Seems there is at least one pretty <b>high neutral value</b> set in your configuration.<br>"
 736                       "Be sure all Esc are calibrated and no mechanical stress in all motors.";
 737     }
 738
 739     if (warning == IsReversibleMotorCheckNeutral) {
 740         warning_str = "There is at least one <b>reversable motor</b> in your configuration.<br>"
 741                       "Be sure you set a appropriate neutral value before saving and applying power to the vehicule.";
 742     }
 743
 744     if (warning == CannotDriveServo) {
 745         warning_str = "One Bank cannot drive a <b>servo output!</b><br>"
 746                       "You must use PWM for this bank or move the servo output to another compatible bank.";
 747     }
 748
 749     setConfigWarning(warning_str);
 750 }
 751
 752 void ConfigOutputWidget::setBoardWarning(QString message)
 753 {
 754     m_ui->boardWarningFrame->setVisible(!message.isNull());
 755     m_ui->boardWarningPic->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 756     m_ui->boardWarningTxt->setText(message);
 757 }
 758
 759 void ConfigOutputWidget::setConfigWarning(QString message)
 760 {
 761     m_ui->configWarningFrame->setVisible(!message.isNull());
 762     m_ui->configWarningPic->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 763     m_ui->configWarningTxt->setText(message);
 764 }
 765
 766 QString ConfigOutputWidget::bankModeName(int index)
 767 {
 768     UAVDataObject *actuator = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("ActuatorSettings")));
 769
 770     Q_ASSERT(actuator);
 771     UAVObjectField *field   = actuator->getField("BankMode");
 772     Q_ASSERT(field);
 773     QStringList bankModeOptions;
 774
 775     if (field) {
 776         bankModeOptions = field->getOptions();
 777     }
 778
 779     return bankModeOptions.at(index);
 780 }
 781
 782 OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) :
 783     m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo)
 784 {}
 785
 786 OutputBankControls::~OutputBankControls()
 787 {}