From 1a40f01963d3339c902c993e745d4697fb660c3f Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Wed, 31 Jul 2013 18:18:30 -0400
Subject: [PATCH] Change for Failsafe config to correctly display GPS status
 and Disarmed on start

---
 src/ui/configuration/FailSafeConfig.cc | 21 +++++++++++++++++++++
 src/ui/configuration/FailSafeConfig.h  |  1 +
 2 files changed, 22 insertions(+)

diff --git a/src/ui/configuration/FailSafeConfig.cc b/src/ui/configuration/FailSafeConfig.cc
index 66e1c10..9d177cc 100644
--- a/src/ui/configuration/FailSafeConfig.cc
+++ b/src/ui/configuration/FailSafeConfig.cc
@@ -82,6 +82,11 @@ FailSafeConfig::FailSafeConfig(QWidget *parent) : AP2ConfigWidget(parent)
     connect(ui.throttleCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleChecked(bool)));
     connect(ui.throttlePwmSpinBox,SIGNAL(editingFinished()),this,SLOT(throttlePwmChanged()));
     connect(ui.throttleFailSafeComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(throttleFailSafeChanged(int)));
+
+    ui.armedLabel->setText("<h1>DISARMED</h1>");
+
+
+    ui.modeLabel->setText("<h1>MODE</h1>");
     initConnections();
 }
 void FailSafeConfig::gcsChecked(bool checked)
@@ -225,6 +230,7 @@ void FailSafeConfig::activeUASSet(UASInterface *uas)
     connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
     connect(m_uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
     connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
+    connect(m_uas,SIGNAL(gpsLocalizationChanged(UASInterface*,int)),this,SLOT(gpsStatusChanged(UASInterface*,int)));
     if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
     {
         ui.batteryFailCheckBox->setVisible(false);
@@ -417,3 +423,18 @@ void FailSafeConfig::hilActuatorsChanged(uint64_t time, float act1, float act2,
     ui.radio7Out->setValue(act7);
     ui.radio8Out->setValue(act8);
 }
+void FailSafeConfig::gpsStatusChanged(UASInterface* uas,int fixtype)
+{
+    if (fixtype == 0 || fixtype == 1)
+    {
+        ui.gpsLabel->setText("<h1>None</h1>");
+    }
+    else if (fixtype == 2)
+    {
+        ui.gpsLabel->setText("<h1>2D Fix</h1>");
+    }
+    else if (fixtype == 3)
+    {
+        ui.gpsLabel->setText("<h1>3D Fix</h1>");
+    }
+}
diff --git a/src/ui/configuration/FailSafeConfig.h b/src/ui/configuration/FailSafeConfig.h
index 162246e..8246739 100644
--- a/src/ui/configuration/FailSafeConfig.h
+++ b/src/ui/configuration/FailSafeConfig.h
@@ -25,6 +25,7 @@ private slots:
     void throttleChecked(bool checked);
     void throttlePwmChanged();
     void throttleFailSafeChanged(int index);
+    void gpsStatusChanged(UASInterface* uas,int fixtype);
 private:
     Ui::FailSafeConfig ui;
 };