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 <coreplugin/generalsettings.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 <QVBoxLayout>
  53 #include <QPushButton>
  54 #include <QMessageBox>
  55 #include <QDesktopServices>
  56 #include <QUrl>
  57
  58 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
  59 {
  60     m_ui = new Ui_OutputWidget();
  61     m_ui->setupUi(this);
  62
  63     m_ui->gvFrame->setVisible(false);
  64
  65     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  66     Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
  67     if (!settings->useExpertMode()) {
  68         m_ui->saveRCOutputToRAM->setVisible(false);
  69     }
  70
  71     UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
  72     connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
  73
  74     connect(m_ui->channelOutTest, SIGNAL(clicked(bool)), this, SLOT(runChannelTests(bool)));
  75
  76     // Configure the task widget
  77     // Connect the help button
  78     connect(m_ui->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
  79
  80     addApplySaveButtons(m_ui->saveRCOutputToRAM, m_ui->saveRCOutputToSD);
  81
  82     // Track the ActuatorSettings object
  83     addUAVObject("ActuatorSettings");
  84
  85     // NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
  86     // Register for ActuatorSettings changes:
  87     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
  88         OutputChannelForm *form = new OutputChannelForm(i, this);
  89         form->moveTo(*(m_ui->channelLayout));
  90
  91         connect(m_ui->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
  92         connect(form, SIGNAL(channelChanged(int, int)), this, SLOT(sendChannelTest(int, int)));
  93
  94         addWidget(form->ui->actuatorMin);
  95         addWidget(form->ui->actuatorNeutral);
  96         addWidget(form->ui->actuatorMax);
  97         addWidget(form->ui->actuatorRev);
  98         addWidget(form->ui->actuatorLink);
  99     }
 100
 101
 102     // Associate the buttons with their UAVO fields
 103     addWidget(m_ui->spinningArmed);
 104     connect(m_ui->spinningArmed, SIGNAL(clicked(bool)), this, SLOT(updateSpinStabilizeCheckComboBoxes()));
 105
 106     addUAVObject("FlightModeSettings");
 107     addWidgetBinding("FlightModeSettings", "AlwaysStabilizeWhenArmedSwitch", m_ui->alwaysStabilizedSwitch);
 108
 109     connect(FlightStatus::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateAlwaysStabilizeStatus()));
 110
 111     MixerSettings *mixer = MixerSettings::GetInstance(getObjectManager());
 112     Q_ASSERT(mixer);
 113     m_banks << OutputBankControls(mixer, m_ui->chBank1, QColor("#C6ECAE"), m_ui->cb_outputRate1, m_ui->cb_outputMode1);
 114     m_banks << OutputBankControls(mixer, m_ui->chBank2, QColor("#91E5D3"), m_ui->cb_outputRate2, m_ui->cb_outputMode2);
 115     m_banks << OutputBankControls(mixer, m_ui->chBank3, QColor("#FCEC52"), m_ui->cb_outputRate3, m_ui->cb_outputMode3);
 116     m_banks << OutputBankControls(mixer, m_ui->chBank4, QColor("#C3A8FF"), m_ui->cb_outputRate4, m_ui->cb_outputMode4);
 117     m_banks << OutputBankControls(mixer, m_ui->chBank5, QColor("#F7F7F2"), m_ui->cb_outputRate5, m_ui->cb_outputMode5);
 118     m_banks << OutputBankControls(mixer, m_ui->chBank6, QColor("#FF9F51"), m_ui->cb_outputRate6, m_ui->cb_outputMode6);
 119
 120     QList<int> rates;
 121     rates << 50 << 60 << 125 << 165 << 270 << 330 << 400 << 490;
 122     int i = 0;
 123     foreach(OutputBankControls controls, m_banks) {
 124         addWidget(controls.rateCombo());
 125
 126         controls.rateCombo()->addItem(tr("-"), QVariant(0));
 127         controls.rateCombo()->model()->setData(controls.rateCombo()->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
 128         foreach(int rate, rates) {
 129             controls.rateCombo()->addItem(tr("%1 Hz").arg(rate), rate);
 130         }
 131
 132         addWidgetBinding("ActuatorSettings", "BankMode", controls.modeCombo(), i++, 0, true);
 133         connect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 134     }
 135
 136     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 137     connect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
 138
 139     disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
 140
 141     populateWidgets();
 142     refreshWidgetsValues();
 143
 144     updateEnableControls();
 145 }
 146
 147 ConfigOutputWidget::~ConfigOutputWidget()
 148 {
 149     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 150
 151     disconnect(systemAlarmsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateWarnings(UAVObject *)));
 152     foreach(OutputBankControls controls, m_banks) {
 153         disconnect(controls.modeCombo(), SIGNAL(currentIndexChanged(int)), this, SLOT(onBankTypeChange()));
 154     }
 155 }
 156
 157 void ConfigOutputWidget::enableControls(bool enable)
 158 {
 159     ConfigTaskWidget::enableControls(enable);
 160
 161     if (!enable) {
 162         m_ui->channelOutTest->setChecked(false);
 163     }
 164     m_ui->channelOutTest->setEnabled(enable);
 165 }
 166
 167 /**
 168    Force update all channels with the values in the OutputChannelForms.
 169  */
 170 void ConfigOutputWidget::sendAllChannelTests()
 171 {
 172     for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
 173         OutputChannelForm *form = getOutputChannelForm(i);
 174         sendChannelTest(i, form->neutral());
 175     }
 176 }
 177
 178 /**
 179    Toggles the channel testing mode by making the GCS take over
 180    the ActuatorCommand objects
 181  */
 182 void ConfigOutputWidget::runChannelTests(bool state)
 183 {
 184     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 185     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 186
 187     if (state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
 188         QMessageBox mbox;
 189         mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. "
 190                                 "Please fix these before testing outputs.")));
 191         mbox.setStandardButtons(QMessageBox::Ok);
 192         mbox.exec();
 193
 194         // Unfortunately must cache this since callback will reoccur
 195         m_accInitialData = ActuatorCommand::GetInstance(getObjectManager())->getMetadata();
 196
 197         m_ui->channelOutTest->setChecked(false);
 198         return;
 199     }
 200
 201     // Confirm this is definitely what they want
 202     if (state) {
 203         QMessageBox mbox;
 204         mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter."
 205                                 "It is recommended to remove any blades from motors. Are you sure you want to do this?")));
 206         mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
 207         int retval = mbox.exec();
 208         if (retval != QMessageBox::Yes) {
 209             state = false;
 210             qDebug() << "Cancelled";
 211             m_ui->channelOutTest->setChecked(false);
 212             return;
 213         }
 214     }
 215
 216     ActuatorCommand *obj = ActuatorCommand::GetInstance(getObjectManager());
 217     UAVObject::Metadata mdata = obj->getMetadata();
 218     if (state) {
 219         m_accInitialData = mdata;
 220         UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
 221         UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 222         UAVObject::SetGcsTelemetryAcked(mdata, false);
 223         UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
 224         mdata.gcsTelemetryUpdatePeriod = 100;
 225     } else {
 226         mdata = m_accInitialData; // Restore metadata
 227     }
 228     obj->setMetadata(mdata);
 229     obj->updated();
 230
 231     // Setup the correct initial channel values when the channel testing mode is turned on.
 232     if (state) {
 233         sendAllChannelTests();
 234     }
 235
 236     // Add info at end
 237     if (!state && isDirty()) {
 238         QMessageBox mbox;
 239         mbox.setText(QString(tr("You may want to save your neutral settings.")));
 240         mbox.setStandardButtons(QMessageBox::Ok);
 241         mbox.setIcon(QMessageBox::Information);
 242         mbox.exec();
 243     }
 244 }
 245
 246 OutputChannelForm *ConfigOutputWidget::getOutputChannelForm(const int index) const
 247 {
 248     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 249     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 250         if (outputChannelForm->index() == index) {
 251             return outputChannelForm;
 252         }
 253     }
 254
 255     // no OutputChannelForm found with given index
 256     return NULL;
 257 }
 258
 259 /**
 260  * Set the label for a channel output assignement
 261  */
 262 void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString &str)
 263 {
 264     // FIXME: use signal/ slot approach
 265     UAVObjectField *field = obj->getField(str);
 266     QStringList options   = field->getOptions();
 267     int index = options.indexOf(field->getValue().toString());
 268
 269     OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
 270
 271     if (outputChannelForm) {
 272         outputChannelForm->setName(str);
 273     }
 274 }
 275
 276 /**
 277    Sends the channel value to the UAV to move the servo.
 278    Returns immediately if we are not in testing mode
 279  */
 280 void ConfigOutputWidget::sendChannelTest(int index, int value)
 281 {
 282     if (!m_ui->channelOutTest->isChecked()) {
 283         return;
 284     }
 285
 286     if (index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
 287         return;
 288     }
 289
 290     ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
 291     Q_ASSERT(actuatorCommand);
 292     ActuatorCommand::DataFields actuatorCommandFields = actuatorCommand->getData();
 293     actuatorCommandFields.Channel[index] = value;
 294     actuatorCommand->setData(actuatorCommandFields);
 295 }
 296
 297 void ConfigOutputWidget::setColor(QWidget *widget, const QColor color)
 298 {
 299     QPalette p(palette());
 300
 301     p.setColor(QPalette::Background, color);
 302     p.setColor(QPalette::Base, color);
 303     p.setColor(QPalette::Active, QPalette::Button, color);
 304     p.setColor(QPalette::Inactive, QPalette::Button, color);
 305     widget->setAutoFillBackground(true);
 306     widget->setPalette(p);
 307 }
 308
 309 /********************************
 310  *  Output settings
 311  *******************************/
 312
 313 /**
 314    Request the current config from the board (RC Output)
 315  */
 316 void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
 317 {
 318     bool dirty = isDirty();
 319
 320     ConfigTaskWidget::refreshWidgetsValues(obj);
 321
 322     // Get Actuator Settings
 323     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 324
 325     Q_ASSERT(actuatorSettings);
 326     ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 327
 328     // Get channel descriptions
 329     QStringList channelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
 330
 331     // Initialize output forms
 332     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
 333     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 334         outputChannelForm->setName(channelDesc[outputChannelForm->index()]);
 335
 336         // init min,max,neutral
 337         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 338         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 339         outputChannelForm->setRange(minValue, maxValue);
 340
 341         int neutral  = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 342         outputChannelForm->setNeutral(neutral);
 343     }
 344
 345     // Get the SpinWhileArmed setting
 346     m_ui->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
 347
 348     for (int i = 0; i < m_banks.count(); i++) {
 349         OutputBankControls controls = m_banks.at(i);
 350         // Reset to all disabled
 351         controls.label()->setText("-");
 352
 353         controls.rateCombo()->setEnabled(false);
 354         setColor(controls.rateCombo(), palette().color(QPalette::Background));
 355         controls.rateCombo()->setCurrentIndex(0);
 356
 357         controls.modeCombo()->setEnabled(false);
 358         setColor(controls.modeCombo(), palette().color(QPalette::Background));
 359     }
 360
 361     // Get connected board model
 362     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 363     Q_ASSERT(pm);
 364     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
 365     Q_ASSERT(utilMngr);
 366     QStringList bankLabels;
 367     QList<int> channelBanks;
 368
 369     if (utilMngr) {
 370         int board = utilMngr->getBoardModel();
 371         // Setup labels and combos for banks according to board type
 372         if ((board & 0xff00) == 0x0400) {
 373             // Coptercontrol family of boards 4 timer banks
 374             bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
 375             channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
 376         } else if (board == 0x0903) {
 377             // Revolution family of boards 6 timer banks
 378             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
 379             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
 380         } else if (board == 0x0905) {
 381             // Revolution Nano
 382             bankLabels << "1 (1)" << "2 (2,7,11)" << "3 (3)" << "4 (4)" << "5 (5-6)" << "6 (8-10,12)";
 383             channelBanks << 1 << 2 << 3 << 4 << 5 << 5 << 2 << 6 << 6 << 6 << 2 << 6;
 384         }
 385     }
 386
 387     int i = 0;
 388     foreach(QString banklabel, bankLabels) {
 389         OutputBankControls controls = m_banks.at(i);
 390
 391         controls.label()->setText(banklabel);
 392         int index = controls.rateCombo()->findData(actuatorSettingsData.BankUpdateFreq[i]);
 393         if (index == -1) {
 394             controls.rateCombo()->addItem(tr("%1 Hz").arg(actuatorSettingsData.BankUpdateFreq[i]), actuatorSettingsData.BankUpdateFreq[i]);
 395         }
 396         controls.rateCombo()->setCurrentIndex(index);
 397         controls.rateCombo()->setEnabled(controls.modeCombo()->currentIndex() == ActuatorSettings::BANKMODE_PWM);
 398         setColor(controls.rateCombo(), controls.color());
 399         controls.modeCombo()->setEnabled(true);
 400         setColor(controls.modeCombo(), controls.color());
 401         i++;
 402     }
 403
 404     // Get Channel ranges:
 405     i = 0;
 406     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 407         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
 408         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 409
 410         outputChannelForm->setRange(minValue, maxValue);
 411         if (channelBanks.count() > i) {
 412             outputChannelForm->setBank(QString("%1").arg(channelBanks.at(i)));
 413             outputChannelForm->setColor(m_banks.at(channelBanks.at(i++) - 1).color());
 414         }
 415         int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
 416         outputChannelForm->setNeutral(neutral);
 417     }
 418
 419     updateSpinStabilizeCheckComboBoxes();
 420
 421     setDirty(dirty);
 422 }
 423
 424 /**
 425  * Sends the config to the board, without saving to the SD card (RC Output)
 426  */
 427 void ConfigOutputWidget::updateObjectsFromWidgets()
 428 {
 429     ConfigTaskWidget::updateObjectsFromWidgets();
 430
 431     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 432
 433     Q_ASSERT(actuatorSettings);
 434     if (actuatorSettings) {
 435         ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 436
 437         // Set channel ranges
 438         QList<OutputChannelForm *> outputChannelForms     = findChildren<OutputChannelForm *>();
 439         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
 440             actuatorSettingsData.ChannelMax[outputChannelForm->index()]     = outputChannelForm->max();
 441             actuatorSettingsData.ChannelMin[outputChannelForm->index()]     = outputChannelForm->min();
 442             actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
 443         }
 444
 445         // Set update rates
 446         actuatorSettingsData.BankUpdateFreq[0]    = m_ui->cb_outputRate1->currentData().toUInt();
 447         actuatorSettingsData.BankUpdateFreq[1]    = m_ui->cb_outputRate2->currentData().toUInt();
 448         actuatorSettingsData.BankUpdateFreq[2]    = m_ui->cb_outputRate3->currentData().toUInt();
 449         actuatorSettingsData.BankUpdateFreq[3]    = m_ui->cb_outputRate4->currentData().toUInt();
 450         actuatorSettingsData.BankUpdateFreq[4]    = m_ui->cb_outputRate5->currentData().toUInt();
 451         actuatorSettingsData.BankUpdateFreq[5]    = m_ui->cb_outputRate6->currentData().toUInt();
 452
 453         actuatorSettingsData.MotorsSpinWhileArmed = m_ui->spinningArmed->isChecked() ?
 454                                                     ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
 455                                                     ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
 456
 457         // Apply settings
 458         actuatorSettings->setData(actuatorSettingsData);
 459     }
 460
 461     FlightModeSettings *flightModeSettings = FlightModeSettings::GetInstance(getObjectManager());
 462     Q_ASSERT(flightModeSettings);
 463
 464     if (flightModeSettings) {
 465         FlightModeSettings::DataFields flightModeSettingsData = flightModeSettings->getData();
 466         flightModeSettingsData.AlwaysStabilizeWhenArmedSwitch = m_ui->alwaysStabilizedSwitch->currentIndex();
 467
 468         // Apply settings
 469         flightModeSettings->setData(flightModeSettingsData);
 470     }
 471 }
 472
 473 void ConfigOutputWidget::updateSpinStabilizeCheckComboBoxes()
 474 {
 475     m_ui->alwayStabilizedLabel1->setEnabled(m_ui->spinningArmed->isChecked());
 476     m_ui->alwayStabilizedLabel2->setEnabled(m_ui->spinningArmed->isChecked());
 477     m_ui->alwaysStabilizedSwitch->setEnabled(m_ui->spinningArmed->isChecked());
 478
 479     if (!m_ui->spinningArmed->isChecked()) {
 480         m_ui->alwaysStabilizedSwitch->setCurrentIndex(FlightModeSettings::ALWAYSSTABILIZEWHENARMEDSWITCH_DISABLED);
 481     }
 482 }
 483
 484 void ConfigOutputWidget::updateAlwaysStabilizeStatus()
 485 {
 486     FlightStatus *flightStatusObj = FlightStatus::GetInstance(getObjectManager());
 487     FlightStatus::DataFields flightStatus = flightStatusObj->getData();
 488
 489     if (flightStatus.AlwaysStabilizeWhenArmed == FlightStatus::ALWAYSSTABILIZEWHENARMED_TRUE) {
 490         m_ui->alwayStabilizedLabel2->setText("AlwaysStabilizeWhenArmed is <b>ACTIVE</b>. This prevents arming!.");
 491     } else {
 492         m_ui->alwayStabilizedLabel2->setText("(Really be careful!).");
 493     }
 494 }
 495
 496 void ConfigOutputWidget::openHelp()
 497 {
 498     QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Output+Configuration"),
 499                                    QUrl::StrictMode));
 500 }
 501
 502 void ConfigOutputWidget::onBankTypeChange()
 503 {
 504     QComboBox *bankModeCombo = qobject_cast<QComboBox *>(sender());
 505
 506     if (bankModeCombo != NULL) {
 507         foreach(OutputBankControls controls, m_banks) {
 508             if (controls.modeCombo() == bankModeCombo) {
 509                 bool enabled = bankModeCombo->currentIndex() == ActuatorSettings::BANKMODE_PWM;
 510                 controls.rateCombo()->setEnabled(enabled);
 511                 controls.rateCombo()->setCurrentIndex(enabled ? 1 : 0);
 512                 break;
 513             }
 514         }
 515     }
 516 }
 517
 518 void ConfigOutputWidget::stopTests()
 519 {
 520     m_ui->channelOutTest->setChecked(false);
 521 }
 522
 523 void ConfigOutputWidget::updateWarnings(UAVObject *)
 524 {
 525     SystemAlarms *systemAlarmsObj = SystemAlarms::GetInstance(getObjectManager());
 526     SystemAlarms::DataFields systemAlarms = systemAlarmsObj->getData();
 527
 528     if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
 529         switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
 530         case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
 531             setWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
 532                           "When using Receiver Port setting 'PPM_PIN8+OneShot' "
 533                           "<b><font color='%1'>Bank %2</font></b> must be set to PWM")
 534                        .arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
 535             return;
 536         }
 537     }
 538     setWarning(NULL);
 539 }
 540
 541 void ConfigOutputWidget::setWarning(QString message)
 542 {
 543     m_ui->gvFrame->setVisible(!message.isNull());
 544     m_ui->picWarning->setPixmap(message.isNull() ? QPixmap() : QPixmap(":/configgadget/images/error.svg"));
 545     m_ui->txtWarning->setText(message);
 546 }
 547
 548
 549 OutputBankControls::OutputBankControls(MixerSettings *mixer, QLabel *label, QColor color, QComboBox *rateCombo, QComboBox *modeCombo) :
 550     m_mixer(mixer), m_label(label), m_color(color), m_rateCombo(rateCombo), m_modeCombo(modeCombo)
 551 {}
 552
 553 OutputBankControls::~OutputBankControls()
 554 {}