First round of fixes per Bill's git commit comments

src/ui/MainWindow.cc

@@ -1527,7 +1527,6 @@ void MainWindow::connectCommonActions()
     connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
     connect(ui.actionMissionView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
     connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));
-    //connect(ui.actionConfiguration_2,SIGNAL(triggered()),this,SLOT(loadConfigurationView()));
     connect(ui.actionHardwareConfig,SIGNAL(triggered()),this,SLOT(loadHardwareConfigView()));
     connect(ui.actionSoftwareConfig,SIGNAL(triggered()),this,SLOT(loadSoftwareConfigView()));
 

src/ui/MainWindow.h

@@ -30,7 +30,6 @@ This file is part of the QGROUNDCONTROL project
 
 #ifndef _MAINWINDOW_H_
 #define _MAINWINDOW_H_
-
 #include <QtGui/QMainWindow>
 #include <QStatusBar>
 #include <QStackedWidget>

src/ui/configuration/AP2ConfigWidget.cc

@@ -1,3 +1,4 @@
+#include <QMessageBox>
 #include "AP2ConfigWidget.h"
 
 AP2ConfigWidget::AP2ConfigWidget(QWidget *parent) : QWidget(parent)
@@ -8,11 +9,12 @@ AP2ConfigWidget::AP2ConfigWidget(QWidget *parent) : QWidget(parent)
 }
 void AP2ConfigWidget::activeUASSet(UASInterface *uas)
 {
-    if (!uas) return;
     if (m_uas)
     {
         disconnect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
+        m_uas = 0;
     }
+    if (!uas) return;
     m_uas = uas;
     connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
 }
@@ -21,3 +23,7 @@ void AP2ConfigWidget::parameterChanged(int uas, int component, QString parameter
 {
 
 }
+void AP2ConfigWidget::showNullMAVErrorMessageBox()
+{
+    QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+}

src/ui/configuration/AP2ConfigWidget.h

@@ -11,6 +11,7 @@ public:
     explicit AP2ConfigWidget(QWidget *parent = 0);
 protected:
     UASInterface *m_uas;
+    void showNullMAVErrorMessageBox();
 signals:
     
 public slots:

src/ui/configuration/AccelCalibrationConfig.cc

@@ -1,7 +1,7 @@
 #include "AccelCalibrationConfig.h"
 
 
-AccelCalibrationConfig::AccelCalibrationConfig(QWidget *parent) : QWidget(parent)
+AccelCalibrationConfig::AccelCalibrationConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     m_uas=0;
     ui.setupUi(this);
@@ -9,7 +9,7 @@ AccelCalibrationConfig::AccelCalibrationConfig(QWidget *parent) : QWidget(parent
 
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
     activeUASSet(UASManager::instance()->getActiveUAS());
-    accelAckCount=0;
+    m_accelAckCount=0;
 }
 
 AccelCalibrationConfig::~AccelCalibrationConfig()
@@ -17,42 +17,48 @@ AccelCalibrationConfig::~AccelCalibrationConfig()
 }
 void AccelCalibrationConfig::activeUASSet(UASInterface *uas)
 {
-    if (!uas)
+    if (m_uas)
     {
-        return;
+        disconnect(m_uas,SIGNAL(textMessageReceived(int,int,int,QString)),this,SLOT(uasTextMessageReceived(int,int,int,QString)));
     }
-    if (m_uas)
+    AP2ConfigWidget::activeUASSet(uas);
+    if (!uas)
     {
+        return;
     }
-    m_uas = uas;
     connect(m_uas,SIGNAL(textMessageReceived(int,int,int,QString)),this,SLOT(uasTextMessageReceived(int,int,int,QString)));
+
 }
 
 void AccelCalibrationConfig::calibrateButtonClicked()
 {
-    if (accelAckCount == 0)
+    if (!m_uas)
+    {
+        showNullMAVErrorMessageBox();
+        return;
+    }
+    if (m_accelAckCount == 0)
     {
         MAV_CMD command = MAV_CMD_PREFLIGHT_CALIBRATION;
         int confirm = 0;
-        float param1 = 0;
-        float param2 = 0;
-        float param3 = 0;
-        float param4 = 0;
-        float param5 = 1;
-        float param6 = 0;
-        float param7 = 0;
+        float param1 = 0.0;
+        float param2 = 0.0;
+        float param3 = 0.0;
+        float param4 = 0.0;
+        float param5 = 1.0;
+        float param6 = 0.0;
+        float param7 = 0.0;
         int component = 1;
         m_uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
     }
-    else if (accelAckCount <= 5)
+    else if (m_accelAckCount <= 5)
     {
-        m_uas->executeCommandAck(accelAckCount++,true);
+        m_uas->executeCommandAck(m_accelAckCount++,true);
     }
     else
     {
-        m_uas->executeCommandAck(accelAckCount++,true);
+        m_uas->executeCommandAck(m_accelAckCount++,true);
         ui.calibrateAccelButton->setText("Calibrate\nAccelerometer");
-        //accelAckCount = 0;
     }
 
 }
@@ -63,24 +69,24 @@ void AccelCalibrationConfig::uasTextMessageReceived(int uasid, int componentid,
     if (severity == 5)
     {
         //This is a calibration instruction
-        if (accelAckCount == 0)
+        if (m_accelAckCount == 0)
         {
             //Calibration Sucessful\r"
             ui.calibrateAccelButton->setText("Any\nKey");
-            accelAckCount++;
+            m_accelAckCount++;
         }
-        if (accelAckCount == 7)
+        if (m_accelAckCount == 7)
         {
             //All finished
             //ui.outputLabel->setText(ui.outputLabel->text() + "\n" + text);
             ui.outputLabel->setText(text);
-            accelAckCount++;
+            m_accelAckCount++;
         }
-        if (accelAckCount == 8)
+        if (m_accelAckCount == 8)
         {
             if (text.contains("Calibration") && text.contains("successful"))
             {
-                accelAckCount = 0;
+                m_accelAckCount = 0;
             }
             ui.outputLabel->setText(ui.outputLabel->text() + "\n" + text);
         }

src/ui/configuration/AccelCalibrationConfig.h

@@ -5,7 +5,9 @@
 #include "ui_AccelCalibrationConfig.h"
 #include "UASManager.h"
 #include "UASInterface.h"
-class AccelCalibrationConfig : public QWidget
+#include "AP2ConfigWidget.h"
+
+class AccelCalibrationConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -17,7 +19,7 @@ private slots:
     void calibrateButtonClicked();
     void uasTextMessageReceived(int uasid, int componentid, int severity, QString text);
 private:
-    int accelAckCount;
+    int m_accelAckCount;
     Ui::AccelCalibrationConfig ui;
     UASInterface *m_uas;
 };

src/ui/configuration/AdvParameterList.cc

@@ -7,8 +7,6 @@ AdvParameterList::AdvParameterList(QWidget *parent) : AP2ConfigWidget(parent)
     ui.tableWidget->setColumnCount(4);
     ui.tableWidget->horizontalHeader()->hide();
     ui.tableWidget->verticalHeader()->hide();
-    //ui.tableWidget->setHorizontalHeader(0);
-    //ui.tableWidget->setVerticalHeader(0);
     ui.tableWidget->setColumnWidth(0,200);
     ui.tableWidget->setColumnWidth(1,100);
     ui.tableWidget->setColumnWidth(2,200);
@@ -21,19 +19,19 @@ AdvParameterList::~AdvParameterList()
 }
 void AdvParameterList::setParameterMetaData(QString name,QString humanname,QString description)
 {
-    paramToNameMap[name] = humanname;
-    paramToDescriptionMap[name] = description;
+    m_paramToNameMap[name] = humanname;
+    m_paramToDescriptionMap[name] = description;
 }
 
 void AdvParameterList::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
 
-    if (!paramValueMap.contains(parameterName))
+    if (!m_paramValueMap.contains(parameterName))
     {
         ui.tableWidget->setRowCount(ui.tableWidget->rowCount()+1);
-        if (paramToNameMap.contains(parameterName))
+        if (m_paramToNameMap.contains(parameterName))
         {
-            ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,0,new QTableWidgetItem(paramToNameMap[parameterName]));
+            ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,0,new QTableWidgetItem(m_paramToNameMap[parameterName]));
         }
         else
         {
@@ -41,15 +39,15 @@ void AdvParameterList::parameterChanged(int uas, int component, QString paramete
         }
         ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,1,new QTableWidgetItem(QString::number(value.toFloat(),'f',2)));
         ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,2,new QTableWidgetItem(parameterName));
-        if (paramToDescriptionMap.contains(parameterName))
+        if (m_paramToDescriptionMap.contains(parameterName))
         {
-            ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,3,new QTableWidgetItem(paramToDescriptionMap[parameterName]));
+            ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,3,new QTableWidgetItem(m_paramToDescriptionMap[parameterName]));
         }
         else
         {
             ui.tableWidget->setItem(ui.tableWidget->rowCount()-1,3,new QTableWidgetItem("Unknown"));
         }
-        paramValueMap[parameterName] = ui.tableWidget->item(ui.tableWidget->rowCount()-1,1);
+        m_paramValueMap[parameterName] = ui.tableWidget->item(ui.tableWidget->rowCount()-1,1);
     }
-    paramValueMap[parameterName]->setText(QString::number(value.toFloat(),'f',2));
+    m_paramValueMap[parameterName]->setText(QString::number(value.toFloat(),'f',2));
 }

src/ui/configuration/AdvParameterList.h

@@ -16,9 +16,9 @@ public:
 private slots:
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
-    QMap<QString,QTableWidgetItem*> paramValueMap;
-    QMap<QString,QString> paramToNameMap;
-    QMap<QString,QString> paramToDescriptionMap;
+    QMap<QString,QTableWidgetItem*> m_paramValueMap;
+    QMap<QString,QString> m_paramToNameMap;
+    QMap<QString,QString> m_paramToDescriptionMap;
     Ui::AdvParameterList ui;
 };
 

src/ui/configuration/AdvancedParamConfig.cc

@@ -12,7 +12,7 @@ AdvancedParamConfig::~AdvancedParamConfig()
 void AdvancedParamConfig::addRange(QString title,QString description,QString param,double min,double max)
 {
     ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents);
-    paramToWidgetMap[param] = widget;
+    m_paramToWidgetMap[param] = widget;
     widget->setupDouble(title + "(" + param + ")",description,0,min,max);
     ui.verticalLayout->addWidget(widget);
     widget->show();
@@ -21,15 +21,15 @@ void AdvancedParamConfig::addRange(QString title,QString description,QString par
 void AdvancedParamConfig::addCombo(QString title,QString description,QString param,QList<QPair<int,QString> > valuelist)
 {
     ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents);
-    paramToWidgetMap[param] = widget;
+    m_paramToWidgetMap[param] = widget;
     widget->setupCombo(title + "(" + param + ")",description,valuelist);
     ui.verticalLayout->addWidget(widget);
     widget->show();
 }
 void AdvancedParamConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    if (paramToWidgetMap.contains(parameterName))
+    if (m_paramToWidgetMap.contains(parameterName))
     {
-        paramToWidgetMap[parameterName]->setValue(value.toDouble());
+        m_paramToWidgetMap[parameterName]->setValue(value.toDouble());
     }
 }

src/ui/configuration/AdvancedParamConfig.h

@@ -17,7 +17,7 @@ public:
 private slots:
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
-    QMap<QString,ParamWidget*> paramToWidgetMap;
+    QMap<QString,ParamWidget*> m_paramToWidgetMap;
     Ui::AdvancedParamConfig ui;
 };
 

src/ui/configuration/AirspeedConfig.cc

@@ -51,7 +51,7 @@ void AirspeedConfig::useCheckBoxClicked(bool checked)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -68,7 +68,7 @@ void AirspeedConfig::enableCheckBoxClicked(bool checked)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)

src/ui/configuration/ApmHardwareConfig.cc

@@ -62,73 +62,73 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent)
 
     QWidget *widget = new QWidget(this);
     ui.stackedWidget->addWidget(widget); //Firmware placeholder.
-    buttonToConfigWidgetMap[ui.firmwareButton] = widget;
+    m_buttonToConfigWidgetMap[ui.firmwareButton] = widget;
     connect(ui.firmwareButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    frameConfig = new FrameTypeConfig(this);
-    ui.stackedWidget->addWidget(frameConfig);
-    buttonToConfigWidgetMap[ui.frameTypeButton] = frameConfig;
+    m_frameConfig = new FrameTypeConfig(this);
+    ui.stackedWidget->addWidget(m_frameConfig);
+    m_buttonToConfigWidgetMap[ui.frameTypeButton] = m_frameConfig;
     connect(ui.frameTypeButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    compassConfig = new CompassConfig(this);
-    ui.stackedWidget->addWidget(compassConfig);
-    buttonToConfigWidgetMap[ui.compassButton] = compassConfig;
+    m_compassConfig = new CompassConfig(this);
+    ui.stackedWidget->addWidget(m_compassConfig);
+    m_buttonToConfigWidgetMap[ui.compassButton] = m_compassConfig;
     connect(ui.compassButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    accelConfig = new AccelCalibrationConfig(this);
-    ui.stackedWidget->addWidget(accelConfig);
-    buttonToConfigWidgetMap[ui.accelCalibrateButton] = accelConfig;
+    m_accelConfig = new AccelCalibrationConfig(this);
+    ui.stackedWidget->addWidget(m_accelConfig);
+    m_buttonToConfigWidgetMap[ui.accelCalibrateButton] = m_accelConfig;
     connect(ui.accelCalibrateButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    planeLevel = new ApmPlaneLevel(this);
-    ui.stackedWidget->addWidget(planeLevel);
-    buttonToConfigWidgetMap[ui.arduPlaneLevelButton] = planeLevel;
+    m_planeLevel = new ApmPlaneLevel(this);
+    ui.stackedWidget->addWidget(m_planeLevel);
+    m_buttonToConfigWidgetMap[ui.arduPlaneLevelButton] = m_planeLevel;
     connect(ui.arduPlaneLevelButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    radioConfig = new RadioCalibrationConfig(this);
-    ui.stackedWidget->addWidget(radioConfig);
-    buttonToConfigWidgetMap[ui.radioCalibrateButton] = radioConfig;
+    m_radioConfig = new RadioCalibrationConfig(this);
+    ui.stackedWidget->addWidget(m_radioConfig);
+    m_buttonToConfigWidgetMap[ui.radioCalibrateButton] = m_radioConfig;
     connect(ui.radioCalibrateButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
 
-    radio3drConfig = new Radio3DRConfig(this);
-    ui.stackedWidget->addWidget(radio3drConfig);
-    buttonToConfigWidgetMap[ui.radio3DRButton] = radio3drConfig;
+    m_radio3drConfig = new Radio3DRConfig(this);
+    ui.stackedWidget->addWidget(m_radio3drConfig);
+    m_buttonToConfigWidgetMap[ui.radio3DRButton] = m_radio3drConfig;
     connect(ui.radio3DRButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    batteryConfig = new BatteryMonitorConfig(this);
-    ui.stackedWidget->addWidget(batteryConfig);
-    buttonToConfigWidgetMap[ui.batteryMonitorButton] = batteryConfig;
+    m_batteryConfig = new BatteryMonitorConfig(this);
+    ui.stackedWidget->addWidget(m_batteryConfig);
+    m_buttonToConfigWidgetMap[ui.batteryMonitorButton] = m_batteryConfig;
     connect(ui.batteryMonitorButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    sonarConfig = new SonarConfig(this);
-    ui.stackedWidget->addWidget(sonarConfig);
-    buttonToConfigWidgetMap[ui.sonarButton] = sonarConfig;
+    m_sonarConfig = new SonarConfig(this);
+    ui.stackedWidget->addWidget(m_sonarConfig);
+    m_buttonToConfigWidgetMap[ui.sonarButton] = m_sonarConfig;
     connect(ui.sonarButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    airspeedConfig = new AirspeedConfig(this);
-    ui.stackedWidget->addWidget(airspeedConfig);
-    buttonToConfigWidgetMap[ui.airspeedButton] = airspeedConfig;
+    m_airspeedConfig = new AirspeedConfig(this);
+    ui.stackedWidget->addWidget(m_airspeedConfig);
+    m_buttonToConfigWidgetMap[ui.airspeedButton] = m_airspeedConfig;
     connect(ui.airspeedButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    opticalFlowConfig = new OpticalFlowConfig(this);
-    ui.stackedWidget->addWidget(opticalFlowConfig);
-    buttonToConfigWidgetMap[ui.opticalFlowButton] = opticalFlowConfig;
+    m_opticalFlowConfig = new OpticalFlowConfig(this);
+    ui.stackedWidget->addWidget(m_opticalFlowConfig);
+    m_buttonToConfigWidgetMap[ui.opticalFlowButton] = m_opticalFlowConfig;
     connect(ui.opticalFlowButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    osdConfig = new OsdConfig(this);
-    ui.stackedWidget->addWidget(osdConfig);
-    buttonToConfigWidgetMap[ui.osdButton] = osdConfig;
+    m_osdConfig = new OsdConfig(this);
+    ui.stackedWidget->addWidget(m_osdConfig);
+    m_buttonToConfigWidgetMap[ui.osdButton] = m_osdConfig;
     connect(ui.osdButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    cameraGimbalConfig = new CameraGimbalConfig(this);
-    ui.stackedWidget->addWidget(cameraGimbalConfig);
-    buttonToConfigWidgetMap[ui.cameraGimbalButton] = cameraGimbalConfig;
+    m_cameraGimbalConfig = new CameraGimbalConfig(this);
+    ui.stackedWidget->addWidget(m_cameraGimbalConfig);
+    m_buttonToConfigWidgetMap[ui.cameraGimbalButton] = m_cameraGimbalConfig;
     connect(ui.cameraGimbalButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    antennaTrackerConfig = new AntennaTrackerConfig(this);
-    ui.stackedWidget->addWidget(antennaTrackerConfig);
-    buttonToConfigWidgetMap[ui.antennaTrackerButton] = antennaTrackerConfig;
+    m_antennaTrackerConfig = new AntennaTrackerConfig(this);
+    ui.stackedWidget->addWidget(m_antennaTrackerConfig);
+    m_buttonToConfigWidgetMap[ui.antennaTrackerButton] = m_antennaTrackerConfig;
     connect(ui.antennaTrackerButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
@@ -139,9 +139,9 @@ ApmHardwareConfig::ApmHardwareConfig(QWidget *parent) : QWidget(parent)
 }
 void ApmHardwareConfig::activateStackedWidget()
 {
-    if (buttonToConfigWidgetMap.contains(sender()))
+    if (m_buttonToConfigWidgetMap.contains(sender()))
     {
-        ui.stackedWidget->setCurrentWidget(buttonToConfigWidgetMap[sender()]);
+        ui.stackedWidget->setCurrentWidget(m_buttonToConfigWidgetMap[sender()]);
     }
 }
 

src/ui/configuration/ApmHardwareConfig.h

@@ -58,20 +58,20 @@ public:
     explicit ApmHardwareConfig(QWidget *parent = 0);
     ~ApmHardwareConfig();
 private:
-    FrameTypeConfig *frameConfig;
-    CompassConfig *compassConfig;
-    AccelCalibrationConfig *accelConfig;
-    RadioCalibrationConfig *radioConfig;
+    FrameTypeConfig *m_frameConfig;
+    CompassConfig *m_compassConfig;
+    AccelCalibrationConfig *m_accelConfig;
+    RadioCalibrationConfig *m_radioConfig;
 
-    Radio3DRConfig *radio3drConfig;
-    BatteryMonitorConfig *batteryConfig;
-    SonarConfig *sonarConfig;
-    AirspeedConfig *airspeedConfig;
-    OpticalFlowConfig *opticalFlowConfig;
-    OsdConfig *osdConfig;
-    CameraGimbalConfig *cameraGimbalConfig;
-    AntennaTrackerConfig *antennaTrackerConfig;
-    ApmPlaneLevel *planeLevel;
+    Radio3DRConfig *m_radio3drConfig;
+    BatteryMonitorConfig *m_batteryConfig;
+    SonarConfig *m_sonarConfig;
+    AirspeedConfig *m_airspeedConfig;
+    OpticalFlowConfig *m_opticalFlowConfig;
+    OsdConfig *m_osdConfig;
+    CameraGimbalConfig *m_cameraGimbalConfig;
+    AntennaTrackerConfig *m_antennaTrackerConfig;
+    ApmPlaneLevel *m_planeLevel;
 private slots:
     void activeUASSet(UASInterface *uas);
     void activateStackedWidget();
@@ -79,7 +79,7 @@ private:
     Ui::ApmHardwareConfig ui;
 
     //This is a map between the buttons, and the widgets they should be displying
-    QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
+    QMap<QObject*,QWidget*> m_buttonToConfigWidgetMap;
 };
 
 #endif // APMHARDWARECONFIG_H

src/ui/configuration/ApmPlaneLevel.cc

@@ -13,16 +13,21 @@ ApmPlaneLevel::~ApmPlaneLevel()
 }
 void ApmPlaneLevel::levelClicked()
 {
+    if (!m_uas)
+    {
+        showNullMAVErrorMessageBox();
+        return;
+    }
     QMessageBox::information(0,"Warning","Be sure the plane is completly level, then click ok");
     MAV_CMD command = MAV_CMD_PREFLIGHT_CALIBRATION;
     int confirm = 0;
-    float param1 = 1;
-    float param2 = 0;
-    float param3 = 1;
-    float param4 = 0;
-    float param5 = 0;
-    float param6 = 0;
-    float param7 = 0;
+    float param1 = 1.0;
+    float param2 = 0.0;
+    float param3 = 1.0;
+    float param4 = 0.0;
+    float param5 = 0.0;
+    float param6 = 0.0;
+    float param7 = 0.0;
     int component = 1;
     m_uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
     QMessageBox::information(0,"Warning","Leveling completed");
@@ -32,6 +37,7 @@ void ApmPlaneLevel::manualCheckBoxToggled(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)

src/ui/configuration/ApmSoftwareConfig.cc

@@ -1,8 +1,9 @@
-#include "ApmSoftwareConfig.h"
 #include <QXmlStreamReader>
 #include <QDir>
 #include <QFile>
 
+#include "ApmSoftwareConfig.h"
+
 
 ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
 {
@@ -17,51 +18,48 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
     ui.arduRoverPidButton->setVisible(false);
     ui.arduPlanePidButton->setVisible(false);
 
-    flightConfig = new FlightModeConfig(this);
-    ui.stackedWidget->addWidget(flightConfig);
-    buttonToConfigWidgetMap[ui.flightModesButton] = flightConfig;
+    m_flightConfig = new FlightModeConfig(this);
+    ui.stackedWidget->addWidget(m_flightConfig);
+    m_buttonToConfigWidgetMap[ui.flightModesButton] = m_flightConfig;
     connect(ui.flightModesButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    standardParamConfig = new StandardParamConfig(this);
-    ui.stackedWidget->addWidget(standardParamConfig);
-    buttonToConfigWidgetMap[ui.standardParamButton] = standardParamConfig;
+    m_standardParamConfig = new StandardParamConfig(this);
+    ui.stackedWidget->addWidget(m_standardParamConfig);
+    m_buttonToConfigWidgetMap[ui.standardParamButton] = m_standardParamConfig;
     connect(ui.standardParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    failSafeConfig = new FailSafeConfig(this);
-    ui.stackedWidget->addWidget(failSafeConfig);
-    buttonToConfigWidgetMap[ui.failSafeButton] = failSafeConfig;
+    m_failSafeConfig = new FailSafeConfig(this);
+    ui.stackedWidget->addWidget(m_failSafeConfig);
+    m_buttonToConfigWidgetMap[ui.failSafeButton] = m_failSafeConfig;
     connect(ui.failSafeButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    advancedParamConfig = new AdvancedParamConfig(this);
-    ui.stackedWidget->addWidget(advancedParamConfig);
-    buttonToConfigWidgetMap[ui.advancedParamButton] = advancedParamConfig;
+    m_advancedParamConfig = new AdvancedParamConfig(this);
+    ui.stackedWidget->addWidget(m_advancedParamConfig);
+    m_buttonToConfigWidgetMap[ui.advancedParamButton] = m_advancedParamConfig;
     connect(ui.advancedParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    advParameterList = new AdvParameterList(this);
-    ui.stackedWidget->addWidget(advParameterList);
-    buttonToConfigWidgetMap[ui.advParamListButton] = advParameterList;
+    m_advParameterList = new AdvParameterList(this);
+    ui.stackedWidget->addWidget(m_advParameterList);
+    m_buttonToConfigWidgetMap[ui.advParamListButton] = m_advParameterList;
     connect(ui.advParamListButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    arduCopterPidConfig = new ArduCopterPidConfig(this);
-    ui.stackedWidget->addWidget(arduCopterPidConfig);
-    buttonToConfigWidgetMap[ui.arduCopterPidButton] = arduCopterPidConfig;
+    m_arduCopterPidConfig = new ArduCopterPidConfig(this);
+    ui.stackedWidget->addWidget(m_arduCopterPidConfig);
+    m_buttonToConfigWidgetMap[ui.arduCopterPidButton] = m_arduCopterPidConfig;
     connect(ui.arduCopterPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    arduPlanePidConfig = new ArduPlanePidConfig(this);
-    ui.stackedWidget->addWidget(arduPlanePidConfig);
-    buttonToConfigWidgetMap[ui.arduPlanePidButton] = arduPlanePidConfig;
+    m_arduPlanePidConfig = new ArduPlanePidConfig(this);
+    ui.stackedWidget->addWidget(m_arduPlanePidConfig);
+    m_buttonToConfigWidgetMap[ui.arduPlanePidButton] = m_arduPlanePidConfig;
     connect(ui.arduPlanePidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    arduRoverPidConfig = new ArduRoverPidConfig(this);
-    ui.stackedWidget->addWidget(arduRoverPidConfig);
-    buttonToConfigWidgetMap[ui.arduRoverPidButton] = arduRoverPidConfig;
+    m_arduRoverPidConfig = new ArduRoverPidConfig(this);
+    ui.stackedWidget->addWidget(m_arduRoverPidConfig);
+    m_buttonToConfigWidgetMap[ui.arduRoverPidButton] = m_arduRoverPidConfig;
     connect(ui.arduRoverPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
-    if (UASManager::instance()->getActiveUAS())
-    {
-        activeUASSet(UASManager::instance()->getActiveUAS());
-    }
+    activeUASSet(UASManager::instance()->getActiveUAS());
 }
 
 ApmSoftwareConfig::~ApmSoftwareConfig()
@@ -69,9 +67,9 @@ ApmSoftwareConfig::~ApmSoftwareConfig()
 }
 void ApmSoftwareConfig::activateStackedWidget()
 {
-    if (buttonToConfigWidgetMap.contains(sender()))
+    if (m_buttonToConfigWidgetMap.contains(sender()))
     {
-        ui.stackedWidget->setCurrentWidget(buttonToConfigWidgetMap[sender()]);
+        ui.stackedWidget->setCurrentWidget(m_buttonToConfigWidgetMap[sender()]);
     }
 }
 void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
@@ -296,11 +294,6 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
                                         genset["count"] = genarraycount;
                                     }
                                     //Right here we have a single param in memory
-                                    name;
-                                    docs;
-                                    valuemap;
-                                    fieldmap;
-                                    //standardParamConfig
                                     if (valuemap.size() > 0)
                                     {
                                         QList<QPair<int,QString> > valuelist;
@@ -310,13 +303,13 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
                                         }
                                         if (tab == "Standard")
                                         {
-                                            standardParamConfig->addCombo(humanname,docs,name,valuelist);
+                                            m_standardParamConfig->addCombo(humanname,docs,name,valuelist);
                                         }
                                         else if (tab == "Advanced")
                                         {
-                                            advancedParamConfig->addCombo(humanname,docs,name,valuelist);
+                                            m_advancedParamConfig->addCombo(humanname,docs,name,valuelist);
                                         }
-                                        advParameterList->setParameterMetaData(name,humanname,docs);
+                                        m_advParameterList->setParameterMetaData(name,humanname,docs);
                                     }
                                     else if (fieldmap.size() > 0)
                                     {
@@ -340,120 +333,23 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
                                         }
                                         if (tab == "Standard")
                                         {
-                                            standardParamConfig->addRange(humanname,docs,name,min,max);
+                                            m_standardParamConfig->addRange(humanname,docs,name,min,max);
                                         }
                                         else if (tab == "Advanced")
                                         {
-                                            advancedParamConfig->addRange(humanname,docs,name,max,min);
+                                            m_advancedParamConfig->addRange(humanname,docs,name,max,min);
                                         }
-                                        advParameterList->setParameterMetaData(name,humanname,docs);
+                                        m_advParameterList->setParameterMetaData(name,humanname,docs);
                                     }
 
                                 }
                                 xml.readNext();
                             }
-                            if (genarraycount > 0)
-                            {
-                                /*
-                                tool = new QGCToolWidget("", this);
-                                tool->addUAS(mav);
-                                tool->setTitle(parametersname);
-                                tool->setObjectName(parametersname);
-                                tool->setSettings(genset);
-                                QList<QString> paramlist = tool->getParamList();
-                                for (int i=0;i<paramlist.size();i++)
-                                {
-                                    //Based on the airframe, we add the parameter to different categories.
-                                    if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
-                                    {
-                                        systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool);
-                                    }
-                                    else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
-                                    {
-                                        systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool);
-                                    }
-                                    else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
-                                    {
-                                        systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool);
-                                    }
-                                    else
-                                    {
-                                        libParamToWidgetMap->insert(paramlist[i],tool);
-                                    }
-                                }
-
-                                toolWidgets.append(tool);
-                                QGroupBox *box = new QGroupBox(this);
-                                box->setTitle(tool->objectName());
-                                box->setLayout(new QVBoxLayout());
-                                box->layout()->addWidget(tool);
-                                if (valuetype == "vehicles")
-                                {
-                                    ui->leftGeneralLayout->addWidget(box);
-                                }
-                                else if (valuetype == "libraries")
-                                {
-                                    ui->rightGeneralLayout->addWidget(box);
-                                }
-                                box->hide();
-                                toolToBoxMap[tool] = box;*/
-                            }
-                            if (advarraycount > 0)
-                            {
-                                /*
-                                tool = new QGCToolWidget("", this);
-                                tool->addUAS(mav);
-                                tool->setTitle(parametersname);
-                                tool->setObjectName(parametersname);
-                                tool->setSettings(advset);
-                                QList<QString> paramlist = tool->getParamList();
-                                for (int i=0;i<paramlist.size();i++)
-                                {
-                                    //Based on the airframe, we add the parameter to different categories.
-                                    if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
-                                    {
-                                        systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool);
-                                    }
-                                    else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
-                                    {
-                                        systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool);
-                                    }
-                                    else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
-                                    {
-                                        systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool);
-                                    }
-                                    else
-                                    {
-                                        libParamToWidgetMap->insert(paramlist[i],tool);
-                                    }
-                                }
-
-                                toolWidgets.append(tool);
-                                QGroupBox *box = new QGroupBox(this);
-                                box->setTitle(tool->objectName());
-                                box->setLayout(new QVBoxLayout());
-                                box->layout()->addWidget(tool);
-                                if (valuetype == "vehicles")
-                                {
-                                    ui->leftAdvancedLayout->addWidget(box);
-                                }
-                                else if (valuetype == "libraries")
-                                {
-                                    ui->rightAdvancedLayout->addWidget(box);
-                                }
-                                box->hide();
-                                toolToBoxMap[tool] = box;*/
-                            }
-
-
-
-
                         }
                         xml.readNext();
                     }
 
                 }
-
                 xml.readNext();
             }
         }

src/ui/configuration/ApmSoftwareConfig.h

@@ -28,17 +28,17 @@ private slots:
     void activeUASSet(UASInterface *uas);
 private:
     Ui::ApmSoftwareConfig ui;
-    BasicPidConfig *basicPidConfig;
-    FlightModeConfig *flightConfig;
-    StandardParamConfig *standardParamConfig;
-    GeoFenceConfig *geoFenceConfig;
-    FailSafeConfig *failSafeConfig;
-    AdvancedParamConfig *advancedParamConfig;
-    ArduCopterPidConfig *arduCopterPidConfig;
-    ArduPlanePidConfig *arduPlanePidConfig;
-    ArduRoverPidConfig *arduRoverPidConfig;
-    AdvParameterList *advParameterList;
-    QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
+    BasicPidConfig *m_basicPidConfig;
+    FlightModeConfig *m_flightConfig;
+    StandardParamConfig *m_standardParamConfig;
+    GeoFenceConfig *m_geoFenceConfig;
+    FailSafeConfig *m_failSafeConfig;
+    AdvancedParamConfig *m_advancedParamConfig;
+    ArduCopterPidConfig *m_arduCopterPidConfig;
+    ArduPlanePidConfig *m_arduPlanePidConfig;
+    ArduRoverPidConfig *m_arduRoverPidConfig;
+    AdvParameterList *m_advParameterList;
+    QMap<QObject*,QWidget*> m_buttonToConfigWidgetMap;
 };
 
 #endif // APMSOFTWARECONFIG_H

src/ui/configuration/ArduCopterPidConfig.cc

@@ -3,126 +3,110 @@
 ArduCopterPidConfig::ArduCopterPidConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
-    nameToBoxMap["STB_RLL_P"] = ui.stabilPitchPSpinBox;
-    nameToBoxMap["STB_PIT_P"] = ui.stabilRollPSpinBox;
-    nameToBoxMap["STB_YAW_P"] = ui.stabilYawPSpinBox;
-    nameToBoxMap["HLD_LAT_P"] = ui.loiterPidPSpinBox;
-
-    nameToBoxMap["RATE_RLL_P"] = ui.rateRollPSpinBox;
-    nameToBoxMap["RATE_RLL_I"] = ui.rateRollISpinBox;
-    nameToBoxMap["RATE_RLL_D"] = ui.rateRollDSpinBox;
-    nameToBoxMap["RATE_RLL_IMAX"] = ui.rateRollIMAXSpinBox;
-
-    nameToBoxMap["RATE_PIT_P"] = ui.ratePitchPSpinBox;
-    nameToBoxMap["RATE_PIT_I"] = ui.ratePitchISpinBox;
-    nameToBoxMap["RATE_PIT_D"] = ui.ratePitchDSpinBox;
-    nameToBoxMap["RATE_PIT_IMAX"] = ui.ratePitchIMAXSpinBox;
-
-    nameToBoxMap["RATE_YAW_P"] = ui.rateYawPSpinBox;
-    nameToBoxMap["RATE_YAW_I"] = ui.rateYawISpinBox;
-    nameToBoxMap["RATE_YAW_D"] = ui.rateYawDSpinBox;
-    nameToBoxMap["RATE_YAW_IMAX"] = ui.rateYawIMAXSpinBox;
-
-    nameToBoxMap["LOITER_LAT_P"] = ui.rateLoiterPSpinBox;
-    nameToBoxMap["LOITER_LAT_I"] = ui.rateLoiterISpinBox;
-    nameToBoxMap["LOITER_LAT_D"] = ui.rateLoiterDSpinBox;
-    nameToBoxMap["LOITER_LAT_IMAX"] = ui.rateLoiterIMAXSpinBox;
-
-    nameToBoxMap["THR_ACCEL_P"] = ui.throttleAccelPSpinBox;
-    nameToBoxMap["THR_ACCEL_I"] = ui.throttleAccelISpinBox;
-    nameToBoxMap["THR_ACCEL_D"] = ui.throttleAccelDSpinBox;
-    nameToBoxMap["THR_ACCEL_IMAX"] = ui.throttleAccelIMAXSpinBox;
-
-    nameToBoxMap["THR_RATE_P"] = ui.throttleRatePSpinBox;
-    nameToBoxMap["THR_RATE_D"] = ui.throttleDateDSpinBox;
-
-    nameToBoxMap["THR_ALT_P"] = ui.altitudeHoldPSpinBox;
-
-    nameToBoxMap["WPNAV_SPEED"] = ui.wpNavLoiterSpeedSpinBox;
-    nameToBoxMap["WPNAV_RADIUS"] = ui.wpNavRadiusSpinBox;
-    nameToBoxMap["WPNAV_SPEED_DN"] = ui.wpNavSpeedDownSpinBox;
-    nameToBoxMap["WPNAV_LOIT_SPEED"] = ui.wpNavSpeedSpinBox;
-    nameToBoxMap["WPNAV_SPEED_UP"] = ui.wpNavSpeedUpSpinBox;
-
-    nameToBoxMap["TUNE_HIGH"] = ui.ch6MaxSpinBox;
-    nameToBoxMap["TUNE_LOW"] = ui.ch6MinSpinBox;
+    m_nameToBoxMap["STB_RLL_P"] = ui.stabilPitchPSpinBox;
+    m_nameToBoxMap["STB_PIT_P"] = ui.stabilRollPSpinBox;
+    m_nameToBoxMap["STB_YAW_P"] = ui.stabilYawPSpinBox;
+    m_nameToBoxMap["HLD_LAT_P"] = ui.loiterPidPSpinBox;
+
+    m_nameToBoxMap["RATE_RLL_P"] = ui.rateRollPSpinBox;
+    m_nameToBoxMap["RATE_RLL_I"] = ui.rateRollISpinBox;
+    m_nameToBoxMap["RATE_RLL_D"] = ui.rateRollDSpinBox;
+    m_nameToBoxMap["RATE_RLL_IMAX"] = ui.rateRollIMAXSpinBox;
+
+    m_nameToBoxMap["RATE_PIT_P"] = ui.ratePitchPSpinBox;
+    m_nameToBoxMap["RATE_PIT_I"] = ui.ratePitchISpinBox;
+    m_nameToBoxMap["RATE_PIT_D"] = ui.ratePitchDSpinBox;
+    m_nameToBoxMap["RATE_PIT_IMAX"] = ui.ratePitchIMAXSpinBox;
+
+    m_nameToBoxMap["RATE_YAW_P"] = ui.rateYawPSpinBox;
+    m_nameToBoxMap["RATE_YAW_I"] = ui.rateYawISpinBox;
+    m_nameToBoxMap["RATE_YAW_D"] = ui.rateYawDSpinBox;
+    m_nameToBoxMap["RATE_YAW_IMAX"] = ui.rateYawIMAXSpinBox;
+
+    m_nameToBoxMap["LOITER_LAT_P"] = ui.rateLoiterPSpinBox;
+    m_nameToBoxMap["LOITER_LAT_I"] = ui.rateLoiterISpinBox;
+    m_nameToBoxMap["LOITER_LAT_D"] = ui.rateLoiterDSpinBox;
+    m_nameToBoxMap["LOITER_LAT_IMAX"] = ui.rateLoiterIMAXSpinBox;
+
+    m_nameToBoxMap["THR_ACCEL_P"] = ui.throttleAccelPSpinBox;
+    m_nameToBoxMap["THR_ACCEL_I"] = ui.throttleAccelISpinBox;
+    m_nameToBoxMap["THR_ACCEL_D"] = ui.throttleAccelDSpinBox;
+    m_nameToBoxMap["THR_ACCEL_IMAX"] = ui.throttleAccelIMAXSpinBox;
+
+    m_nameToBoxMap["THR_RATE_P"] = ui.throttleRatePSpinBox;
+    m_nameToBoxMap["THR_RATE_D"] = ui.throttleDateDSpinBox;
+
+    m_nameToBoxMap["THR_ALT_P"] = ui.altitudeHoldPSpinBox;
+
+    m_nameToBoxMap["WPNAV_SPEED"] = ui.wpNavLoiterSpeedSpinBox;
+    m_nameToBoxMap["WPNAV_RADIUS"] = ui.wpNavRadiusSpinBox;
+    m_nameToBoxMap["WPNAV_SPEED_DN"] = ui.wpNavSpeedDownSpinBox;
+    m_nameToBoxMap["WPNAV_LOIT_SPEED"] = ui.wpNavSpeedSpinBox;
+    m_nameToBoxMap["WPNAV_SPEED_UP"] = ui.wpNavSpeedUpSpinBox;
+
+    m_nameToBoxMap["TUNE_HIGH"] = ui.ch6MaxSpinBox;
+    m_nameToBoxMap["TUNE_LOW"] = ui.ch6MinSpinBox;
 
     connect(ui.writePushButton,SIGNAL(clicked()),this,SLOT(writeButtonClicked()));
     connect(ui.refreshPushButton,SIGNAL(clicked()),this,SLOT(refreshButtonClicked()));
 
 
 
-    ch6ValueToTextList.append(QPair<int,QString>(0,"CH6_NONE"));
-    ch6ValueToTextList.append(QPair<int,QString>(1,"CH6_STABILIZE_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(2,"CH6_STABILIZE_KI"));
-    ch6ValueToTextList.append(QPair<int,QString>(3,"CH6_YAW_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(24,"CH6_YAW_KI"));
-    ch6ValueToTextList.append(QPair<int,QString>(4,"CH6_RATE_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(5,"CH6_RATE_KI"));
-    ch6ValueToTextList.append(QPair<int,QString>(6,"CH6_YAW_RATE_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(26,"CH6_YAW_RATE_KD"));
-    ch6ValueToTextList.append(QPair<int,QString>(7,"CH6_THROTTLE_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(9,"CH6_RELAY"));
-    ch6ValueToTextList.append(QPair<int,QString>(10,"CH6_WP_SPEED"));
-    ch6ValueToTextList.append(QPair<int,QString>(12,"CH6_LOITER_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(13,"CH6_HELI_EXTERNAL_GYRO"));
-    ch6ValueToTextList.append(QPair<int,QString>(14,"CH6_THR_HOLD_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(17,"CH6_OPTFLOW_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(18,"CH6_OPTFLOW_KI"));
-    ch6ValueToTextList.append(QPair<int,QString>(19,"CH6_OPTFLOW_KD"));
-    ch6ValueToTextList.append(QPair<int,QString>(21,"CH6_RATE_KD"));
-    ch6ValueToTextList.append(QPair<int,QString>(22,"CH6_LOITER_RATE_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(23,"CH6_LOITER_RATE_KD"));
-    ch6ValueToTextList.append(QPair<int,QString>(25,"CH6_ACRO_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(27,"CH6_LOITER_KI"));
-    ch6ValueToTextList.append(QPair<int,QString>(28,"CH6_LOITER_RATE_KI"));
-    ch6ValueToTextList.append(QPair<int,QString>(29,"CH6_STABILIZE_KD"));
-    ch6ValueToTextList.append(QPair<int,QString>(30,"CH6_AHRS_YAW_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(31,"CH6_AHRS_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(32,"CH6_INAV_TC"));
-    ch6ValueToTextList.append(QPair<int,QString>(33,"CH6_THROTTLE_KI"));
-    ch6ValueToTextList.append(QPair<int,QString>(34,"CH6_THR_ACCEL_KP"));
-    ch6ValueToTextList.append(QPair<int,QString>(35,"CH6_THR_ACCEL_KI"));
-    ch6ValueToTextList.append(QPair<int,QString>(36,"CH6_THR_ACCEL_KD"));
-    ch6ValueToTextList.append(QPair<int,QString>(38,"CH6_DECLINATION"));
-    ch6ValueToTextList.append(QPair<int,QString>(39,"CH6_CIRCLE_RATE"));
-    for (int i=0;i<ch6ValueToTextList.size();i++)
+    m_ch6ValueToTextList.append(QPair<int,QString>(0,"CH6_NONE"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(1,"CH6_STABILIZE_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(2,"CH6_STABILIZE_KI"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(3,"CH6_YAW_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(24,"CH6_YAW_KI"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(4,"CH6_RATE_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(5,"CH6_RATE_KI"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(6,"CH6_YAW_RATE_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(26,"CH6_YAW_RATE_KD"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(7,"CH6_THROTTLE_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(9,"CH6_RELAY"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(10,"CH6_WP_SPEED"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(12,"CH6_LOITER_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(13,"CH6_HELI_EXTERNAL_GYRO"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(14,"CH6_THR_HOLD_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(17,"CH6_OPTFLOW_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(18,"CH6_OPTFLOW_KI"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(19,"CH6_OPTFLOW_KD"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(21,"CH6_RATE_KD"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(22,"CH6_LOITER_RATE_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(23,"CH6_LOITER_RATE_KD"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(25,"CH6_ACRO_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(27,"CH6_LOITER_KI"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(28,"CH6_LOITER_RATE_KI"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(29,"CH6_STABILIZE_KD"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(30,"CH6_AHRS_YAW_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(31,"CH6_AHRS_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(32,"CH6_INAV_TC"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(33,"CH6_THROTTLE_KI"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(34,"CH6_THR_ACCEL_KP"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(35,"CH6_THR_ACCEL_KI"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(36,"CH6_THR_ACCEL_KD"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(38,"CH6_DECLINATION"));
+    m_ch6ValueToTextList.append(QPair<int,QString>(39,"CH6_CIRCLE_RATE"));
+    for (int i=0;i<m_ch6ValueToTextList.size();i++)
     {
-        ui.ch6OptComboBox->addItem(ch6ValueToTextList[i].second);
+        ui.ch6OptComboBox->addItem(m_ch6ValueToTextList[i].second);
     }
 
-    ch7ValueToTextList.append(QPair<int,QString>(0,"Do nothing"));
-    ch7ValueToTextList.append(QPair<int,QString>(2,"Flip"));
-    ch7ValueToTextList.append(QPair<int,QString>(3,"Simple mode"));
-    ch7ValueToTextList.append(QPair<int,QString>(4,"RTL"));
-    ch7ValueToTextList.append(QPair<int,QString>(5,"Save Trim"));
-    ch7ValueToTextList.append(QPair<int,QString>(7,"Save WP"));
-    ch7ValueToTextList.append(QPair<int,QString>(8,"Multi Mode"));
-    ch7ValueToTextList.append(QPair<int,QString>(9,"Camera Trigger"));
-    ch7ValueToTextList.append(QPair<int,QString>(10,"Sonar"));
-    ch7ValueToTextList.append(QPair<int,QString>(11,"Fence"));
-    ch7ValueToTextList.append(QPair<int,QString>(12,"ResetToArmedYaw"));
-    for (int i=0;i<ch7ValueToTextList.size();i++)
+    m_ch78ValueToTextList.append(QPair<int,QString>(0,"Do nothing"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(2,"Flip"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(3,"Simple mode"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(4,"RTL"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(5,"Save Trim"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(7,"Save WP"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(8,"Multi Mode"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(9,"Camera Trigger"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(10,"Sonar"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(11,"Fence"));
+    m_ch78ValueToTextList.append(QPair<int,QString>(12,"ResetToArmedYaw"));
+    for (int i=0;i<m_ch78ValueToTextList.size();i++)
     {
-        ui.ch7OptComboBox->addItem(ch7ValueToTextList[i].second);
+        ui.ch7OptComboBox->addItem(m_ch78ValueToTextList[i].second);
+        ui.ch8OptComboBox->addItem(m_ch78ValueToTextList[i].second);
     }
-
-    ch8ValueToTextList.append(QPair<int,QString>(0,"Do nothing"));
-    ch8ValueToTextList.append(QPair<int,QString>(2,"Flip"));
-    ch8ValueToTextList.append(QPair<int,QString>(3,"Simple mode"));
-    ch8ValueToTextList.append(QPair<int,QString>(4,"RTL"));
-    ch8ValueToTextList.append(QPair<int,QString>(5,"Save Trim"));
-    ch8ValueToTextList.append(QPair<int,QString>(7,"Save WP"));
-    ch8ValueToTextList.append(QPair<int,QString>(8,"Multi Mode"));
-    ch8ValueToTextList.append(QPair<int,QString>(9,"Camera Trigger"));
-    ch8ValueToTextList.append(QPair<int,QString>(10,"Sonar"));
-    ch8ValueToTextList.append(QPair<int,QString>(11,"Fence"));
-    ch8ValueToTextList.append(QPair<int,QString>(12,"ResetToArmedYaw"));
-    for (int i=0;i<ch8ValueToTextList.size();i++)
-    {
-        ui.ch8OptComboBox->addItem(ch8ValueToTextList[i].second);
-    }
-
 }
 
 ArduCopterPidConfig::~ArduCopterPidConfig()
@@ -130,15 +114,15 @@ ArduCopterPidConfig::~ArduCopterPidConfig()
 }
 void ArduCopterPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    if (nameToBoxMap.contains(parameterName))
+    if (m_nameToBoxMap.contains(parameterName))
     {
-        nameToBoxMap[parameterName]->setValue(value.toDouble());
+        m_nameToBoxMap[parameterName]->setValue(value.toDouble());
     }
     else if (parameterName == "TUNE")
     {
-        for (int i=0;i<ch6ValueToTextList.size();i++)
+        for (int i=0;i<m_ch6ValueToTextList.size();i++)
         {
-            if (ch6ValueToTextList[i].first == value.toInt())
+            if (m_ch6ValueToTextList[i].first == value.toInt())
             {
                 ui.ch6OptComboBox->setCurrentIndex(i);
             }
@@ -146,9 +130,9 @@ void ArduCopterPidConfig::parameterChanged(int uas, int component, QString param
     }
     else if (parameterName == "CH7_OPT")
     {
-        for (int i=0;i<ch7ValueToTextList.size();i++)
+        for (int i=0;i<m_ch78ValueToTextList.size();i++)
         {
-            if (ch7ValueToTextList[i].first == value.toInt())
+            if (m_ch78ValueToTextList[i].first == value.toInt())
             {
                 ui.ch7OptComboBox->setCurrentIndex(i);
             }
@@ -156,9 +140,9 @@ void ArduCopterPidConfig::parameterChanged(int uas, int component, QString param
     }
     else if (parameterName == "CH8_OPT")
     {
-        for (int i=0;i<ch8ValueToTextList.size();i++)
+        for (int i=0;i<m_ch78ValueToTextList.size();i++)
         {
-            if (ch8ValueToTextList[i].first == value.toInt())
+            if (m_ch78ValueToTextList[i].first == value.toInt())
             {
                 ui.ch8OptComboBox->setCurrentIndex(i);
             }
@@ -169,24 +153,26 @@ void ArduCopterPidConfig::writeButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
-    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=m_nameToBoxMap.constBegin();i!=m_nameToBoxMap.constEnd();i++)
     {
         m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
     }
-    m_uas->getParamManager()->setParameter(1,"TUNE",ch8ValueToTextList[ui.ch6OptComboBox->currentIndex()].first);
-    m_uas->getParamManager()->setParameter(1,"CH7_OPT",ch7ValueToTextList[ui.ch7OptComboBox->currentIndex()].first);
-    m_uas->getParamManager()->setParameter(1,"CH8_OPT",ch8ValueToTextList[ui.ch8OptComboBox->currentIndex()].first);
+    m_uas->getParamManager()->setParameter(1,"TUNE",m_ch78ValueToTextList[ui.ch6OptComboBox->currentIndex()].first);
+    m_uas->getParamManager()->setParameter(1,"CH7_OPT",m_ch78ValueToTextList[ui.ch7OptComboBox->currentIndex()].first);
+    m_uas->getParamManager()->setParameter(1,"CH8_OPT",m_ch78ValueToTextList[ui.ch8OptComboBox->currentIndex()].first);
 }
 
 void ArduCopterPidConfig::refreshButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
-    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=m_nameToBoxMap.constBegin();i!=m_nameToBoxMap.constEnd();i++)
     {
         m_uas->getParamManager()->requestParameterUpdate(1,i.key());
     }

src/ui/configuration/ArduCopterPidConfig.h

@@ -18,10 +18,9 @@ private slots:
     void refreshButtonClicked();
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
-    QList<QPair<int,QString> > ch6ValueToTextList;
-    QList<QPair<int,QString> > ch7ValueToTextList;
-    QList<QPair<int,QString> > ch8ValueToTextList;
-    QMap<QString,QDoubleSpinBox*> nameToBoxMap;
+    QList<QPair<int,QString> > m_ch6ValueToTextList;
+    QList<QPair<int,QString> > m_ch78ValueToTextList;
+    QMap<QString,QDoubleSpinBox*> m_nameToBoxMap;
     Ui::ArduCopterPidConfig ui;
 };
 

src/ui/configuration/ArduPlanePidConfig.cc

@@ -5,56 +5,56 @@ ArduPlanePidConfig::ArduPlanePidConfig(QWidget *parent) : AP2ConfigWidget(parent
 {
     ui.setupUi(this);
 
-    nameToBoxMap["RLL2SRV_P"] = ui.servoRollPSpinBox;
-    nameToBoxMap["RLL2SRV_I"] = ui.servoRollISpinBox;
-    nameToBoxMap["RLL2SRV_D"] = ui.servoRollDSpinBox;
-    nameToBoxMap["RLL2SRV_IMAX"] = ui.servoRollIMAXSpinBox;
-
-    nameToBoxMap["PTCH2SRV_P"] = ui.servoPitchPSpinBox;
-    nameToBoxMap["PTCH2SRV_I"] = ui.servoPitchISpinBox;
-    nameToBoxMap["PTCH2SRV_D"] = ui.servoPitchDSpinBox;
-    nameToBoxMap["PTCH2SRV_IMAX"] = ui.servoPitchIMAXSpinBox;
-
-    nameToBoxMap["YW2SRV_P"] = ui.servoYawPSpinBox;
-    nameToBoxMap["YW2SRV_I"] = ui.servoYawISpinBox;
-    nameToBoxMap["YW2SRV_D"] = ui.servoYawDSpinBox;
-    nameToBoxMap["YW2SRV_IMAX"] = ui.servoYawIMAXSpinBox;
-
-    nameToBoxMap["ALT2PTCH_P"] = ui.navAltPSpinBox;
-    nameToBoxMap["ALT2PTCH_I"] = ui.navAltISpinBox;
-    nameToBoxMap["ALT2PTCH_D"] = ui.navAltDSpinBox;
-    nameToBoxMap["ALT2PTCH_IMAX"] = ui.navAltIMAXSpinBox;
-
-    nameToBoxMap["ARSP2PTCH_P"] = ui.navASPSpinBox;
-    nameToBoxMap["ARSP2PTCH_I"] = ui.navASISpinBox;
-    nameToBoxMap["ARSP2PTCH_D"] = ui.navASDSpinBox;
-    nameToBoxMap["ARSP2PTCH_IMAX"] = ui.navASIMAXSpinBox;
-
-    nameToBoxMap["ENRGY2THR_P"] = ui.energyPSpinBox;
-    nameToBoxMap["ENRGY2THR_I"] = ui.energyISpinBox;
-    nameToBoxMap["ENRGY2THR_D"] = ui.energyDSpinBox;
-    nameToBoxMap["ENRGY2THR_IMAX"] = ui.energyIMAXSpinBox;
-
-    nameToBoxMap["KFF_PTCH2THR"] = ui.otherPitchCompSpinBox;
-    nameToBoxMap["KFF_PTCHCOMP"] = ui.otherPtTSpinBox;
-    nameToBoxMap["KFF_RDDRMIX"] = ui.otherRudderMixSpinBox;
-
-    nameToBoxMap["TRIM_THROTTLE"] = ui.throttleCruiseSpinBox;
-    nameToBoxMap["THR_FS_VALUE"] = ui.throttleFSSpinBox;
-    nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
-    nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
-
-    nameToBoxMap["TRIM_ARSPD_CM"] = ui.airspeedCruiseSpinBox;
-    nameToBoxMap["ARSPD_FBW_MAX"] = ui.airspeedFBWMaxSpinBox;
-    nameToBoxMap["ARSPD_FBW_MIN"] = ui.airspeedFBWMinSpinBox;
-    nameToBoxMap["ARSPD_RATIO"] = ui.airspeedRatioSpinBox;
-
-    nameToBoxMap["NAVL1_DAMPING"] = ui.l1DampingSpinBox;
-    nameToBoxMap["NAVL1_PERIOD"] = ui.l1PeriodSpinBox;
-
-    nameToBoxMap["LIM_ROLL_CD"] = ui.navBankMaxSpinBox;
-    nameToBoxMap["LIM_PITCH_MAX"] = ui.navPitchMaxSpinBox;
-    nameToBoxMap["LIM_PITCH_MIN"] = ui.navPitchMinSpinBox;
+    m_nameToBoxMap["RLL2SRV_P"] = ui.servoRollPSpinBox;
+    m_nameToBoxMap["RLL2SRV_I"] = ui.servoRollISpinBox;
+    m_nameToBoxMap["RLL2SRV_D"] = ui.servoRollDSpinBox;
+    m_nameToBoxMap["RLL2SRV_IMAX"] = ui.servoRollIMAXSpinBox;
+
+    m_nameToBoxMap["PTCH2SRV_P"] = ui.servoPitchPSpinBox;
+    m_nameToBoxMap["PTCH2SRV_I"] = ui.servoPitchISpinBox;
+    m_nameToBoxMap["PTCH2SRV_D"] = ui.servoPitchDSpinBox;
+    m_nameToBoxMap["PTCH2SRV_IMAX"] = ui.servoPitchIMAXSpinBox;
+
+    m_nameToBoxMap["YW2SRV_P"] = ui.servoYawPSpinBox;
+    m_nameToBoxMap["YW2SRV_I"] = ui.servoYawISpinBox;
+    m_nameToBoxMap["YW2SRV_D"] = ui.servoYawDSpinBox;
+    m_nameToBoxMap["YW2SRV_IMAX"] = ui.servoYawIMAXSpinBox;
+
+    m_nameToBoxMap["ALT2PTCH_P"] = ui.navAltPSpinBox;
+    m_nameToBoxMap["ALT2PTCH_I"] = ui.navAltISpinBox;
+    m_nameToBoxMap["ALT2PTCH_D"] = ui.navAltDSpinBox;
+    m_nameToBoxMap["ALT2PTCH_IMAX"] = ui.navAltIMAXSpinBox;
+
+    m_nameToBoxMap["ARSP2PTCH_P"] = ui.navASPSpinBox;
+    m_nameToBoxMap["ARSP2PTCH_I"] = ui.navASISpinBox;
+    m_nameToBoxMap["ARSP2PTCH_D"] = ui.navASDSpinBox;
+    m_nameToBoxMap["ARSP2PTCH_IMAX"] = ui.navASIMAXSpinBox;
+
+    m_nameToBoxMap["ENRGY2THR_P"] = ui.energyPSpinBox;
+    m_nameToBoxMap["ENRGY2THR_I"] = ui.energyISpinBox;
+    m_nameToBoxMap["ENRGY2THR_D"] = ui.energyDSpinBox;
+    m_nameToBoxMap["ENRGY2THR_IMAX"] = ui.energyIMAXSpinBox;
+
+    m_nameToBoxMap["KFF_PTCH2THR"] = ui.otherPitchCompSpinBox;
+    m_nameToBoxMap["KFF_PTCHCOMP"] = ui.otherPtTSpinBox;
+    m_nameToBoxMap["KFF_RDDRMIX"] = ui.otherRudderMixSpinBox;
+
+    m_nameToBoxMap["TRIM_THROTTLE"] = ui.throttleCruiseSpinBox;
+    m_nameToBoxMap["THR_FS_VALUE"] = ui.throttleFSSpinBox;
+    m_nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
+    m_nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
+
+    m_nameToBoxMap["TRIM_ARSPD_CM"] = ui.airspeedCruiseSpinBox;
+    m_nameToBoxMap["ARSPD_FBW_MAX"] = ui.airspeedFBWMaxSpinBox;
+    m_nameToBoxMap["ARSPD_FBW_MIN"] = ui.airspeedFBWMinSpinBox;
+    m_nameToBoxMap["ARSPD_RATIO"] = ui.airspeedRatioSpinBox;
+
+    m_nameToBoxMap["NAVL1_DAMPING"] = ui.l1DampingSpinBox;
+    m_nameToBoxMap["NAVL1_PERIOD"] = ui.l1PeriodSpinBox;
+
+    m_nameToBoxMap["LIM_ROLL_CD"] = ui.navBankMaxSpinBox;
+    m_nameToBoxMap["LIM_PITCH_MAX"] = ui.navPitchMaxSpinBox;
+    m_nameToBoxMap["LIM_PITCH_MIN"] = ui.navPitchMinSpinBox;
 
     connect(ui.writePushButton,SIGNAL(clicked()),this,SLOT(writeButtonClicked()));
     connect(ui.refreshPushButton,SIGNAL(clicked()),this,SLOT(refreshButtonClicked()));
@@ -66,18 +66,19 @@ ArduPlanePidConfig::~ArduPlanePidConfig()
 }
 void ArduPlanePidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    if (nameToBoxMap.contains(parameterName))
+    if (m_nameToBoxMap.contains(parameterName))
     {
-        nameToBoxMap[parameterName]->setValue(value.toDouble());
+        m_nameToBoxMap[parameterName]->setValue(value.toDouble());
     }
 }
 void ArduPlanePidConfig::writeButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
-    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=m_nameToBoxMap.constBegin();i!=m_nameToBoxMap.constEnd();i++)
     {
         m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
     }
@@ -87,9 +88,10 @@ void ArduPlanePidConfig::refreshButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
-    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=m_nameToBoxMap.constBegin();i!=m_nameToBoxMap.constEnd();i++)
     {
         m_uas->getParamManager()->requestParameterUpdate(1,i.key());
     }

src/ui/configuration/ArduPlanePidConfig.h

@@ -17,7 +17,7 @@ private slots:
     void writeButtonClicked();
     void refreshButtonClicked();
 private:
-    QMap<QString,QDoubleSpinBox*> nameToBoxMap;
+    QMap<QString,QDoubleSpinBox*> m_nameToBoxMap;
     Ui::ArduPlanePidConfig ui;
 };
 

src/ui/configuration/ArduRoverPidConfig.cc

@@ -49,6 +49,7 @@ void ArduRoverPidConfig::writeButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
@@ -61,6 +62,7 @@ void ArduRoverPidConfig::refreshButtonClicked()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)

src/ui/configuration/BatteryMonitorConfig.cc

@@ -4,11 +4,11 @@
 BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
-    ui.monitorComboBox->addItem("0: Disabled");
-    ui.monitorComboBox->addItem("3: Battery Volts");
-    ui.monitorComboBox->addItem("4: Voltage and Current");
+    ui.monitorComboBox->addItem(tr("0: Disabled"));
+    ui.monitorComboBox->addItem(tr("3: Battery Volts"));
+    ui.monitorComboBox->addItem(tr("4: Voltage and Current"));
 
-    ui.sensorComboBox->addItem("0: Other");
+    ui.sensorComboBox->addItem(tr("0: Other"));
     ui.sensorComboBox->addItem("1: AttoPilot 45A");
     ui.sensorComboBox->addItem("2: AttoPilot 90A");
     ui.sensorComboBox->addItem("3: AttoPilot 180A");
@@ -34,19 +34,24 @@ BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : AP2ConfigWidget(pa
 }
 void BatteryMonitorConfig::activeUASSet(UASInterface *uas)
 {
+    if (m_uas)
+    {
+        disconnect(m_uas,SIGNAL(batteryChanged(UASInterface*,double,double,double,int)),this,SLOT(batteryChanged(UASInterface*,double,double,double,int)));
+    }
+    AP2ConfigWidget::activeUASSet(uas);
     if (!uas)
     {
         return;
     }
     connect(uas,SIGNAL(batteryChanged(UASInterface*,double,double,double,int)),this,SLOT(batteryChanged(UASInterface*,double,double,double,int)));
-    AP2ConfigWidget::activeUASSet(uas);
+
 }
 
 void BatteryMonitorConfig::calcDividerSet()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     bool ok = false;
@@ -63,7 +68,7 @@ void BatteryMonitorConfig::ampsPerVoltSet()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     bool ok = false;
@@ -80,7 +85,7 @@ void BatteryMonitorConfig::batteryCapacitySet()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     bool ok = false;
@@ -98,10 +103,10 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
-    if (index == 0)
+    if (index == 0) //Battery Monitor Disabled
     {
         m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",-1);
         m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",-1);
@@ -114,7 +119,7 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
         ui.calcVoltsLineEdit->setEnabled(false);
         ui.ampsPerVoltsLineEdit->setEnabled(false);
     }
-    else if (index == 1)
+    else if (index == 1) //Monitor voltage only
     {
         m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",3);
         ui.sensorComboBox->setEnabled(false);
@@ -124,7 +129,7 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
         ui.calcVoltsLineEdit->setEnabled(false);
         ui.ampsPerVoltsLineEdit->setEnabled(false);
     }
-    else if (index == 2)
+    else if (index == 2) //Monitor voltage and current
     {
         m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",4);
         ui.sensorComboBox->setEnabled(true);
@@ -139,45 +144,39 @@ void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
 }
 void BatteryMonitorConfig::sensorCurrentIndexChanged(int index)
 {
-    float maxvolt = 0;
-    float maxamps = 0;
-    float mvpervolt = 0;
-    float mvperamp = 0;
-    float topvolt = 0;
-    float topamps = 0;
+    float maxvolt = 0.0;
+    float maxamps = 0.0;
+    float mvpervolt = 0.0;
+    float mvperamp = 0.0;
+    float topvolt = 0.0;
+    float topamps = 0.0;
 
     if (index == 1)
     {
-        //atto 45
+        //atto 45 see https://www.sparkfun.com/products/10643
         maxvolt = 13.6;
         maxamps = 44.7;
-        mvpervolt = 242.3;
-        mvperamp = 73.20;
     }
     else if (index == 2)
     {
-        //atto 90
-        maxvolt = 50;
+        //atto 90 see https://www.sparkfun.com/products/9028
+        maxvolt = 51.8;
         maxamps = 89.4;
-        mvpervolt = 63.69;
-        mvperamp = 36.60;
     }
     else if (index == 3)
     {
-        //atto 180
-        maxvolt = 50;
+        //atto 180 see https://www.sparkfun.com/products/10644
+        maxvolt = 51.8;
         maxamps = 178.8;
-        mvpervolt = 63.69;
-        mvperamp = 18.30;
     }
     else if (index == 4)
     {
         //3dr
-        maxvolt = 50;
-        maxamps = 90;
-        mvpervolt = 100;
-        mvperamp = 55.55;
+        maxvolt = 50.0;
+        maxamps = 90.0;
     }
+    mvpervolt = calculatemVPerVolt(3.3,maxvolt);
+    mvperamp = calculatemVPerAmp(3.3,maxamps);
     if (index == 0)
     {
         //Other
@@ -197,12 +196,21 @@ void BatteryMonitorConfig::sensorCurrentIndexChanged(int index)
         ui.measuredVoltsLineEdit->setEnabled(false);
     }
 }
+float BatteryMonitorConfig::calculatemVPerAmp(float maxvoltsout,float maxamps)
+{
+    return (1000.0 * (maxvoltsout/maxamps));
+}
+
+float BatteryMonitorConfig::calculatemVPerVolt(float maxvoltsout,float maxvolts)
+{
+    return (1000.0 * (maxvoltsout/maxvolts));
+}
 
 void BatteryMonitorConfig::apmVerCurrentIndexChanged(int index)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     if (index == 0) //APM1

src/ui/configuration/BatteryMonitorConfig.h

@@ -24,6 +24,8 @@ private slots:
     void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds);
 private:
     Ui::BatteryMonitorConfig ui;
+    inline float calculatemVPerAmp(float maxvoltsout,float maxamps);
+    inline float calculatemVPerVolt(float maxvoltsout,float maxvolts);
 };
 
 #endif // BATTERYMONITORCONFIG_H

src/ui/configuration/BatteryMonitorConfig.ui

@@ -150,7 +150,7 @@
      <x>160</x>
      <y>70</y>
      <width>281</width>
-     <height>80</height>
+     <height>91</height>
     </rect>
    </property>
    <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,1">

src/ui/configuration/CameraGimbalConfig.cc

@@ -1,10 +1,12 @@
-#include "CameraGimbalConfig.h"
 #include <QMessageBox>
 #include <QDebug>
+
+#include "CameraGimbalConfig.h"
+
 CameraGimbalConfig::CameraGimbalConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
-    ui.tiltChannelComboBox->addItem("Disable");
+    ui.tiltChannelComboBox->addItem(tr("Disable"));
     ui.tiltChannelComboBox->addItem("RC5");
     ui.tiltChannelComboBox->addItem("RC6");
     ui.tiltChannelComboBox->addItem("RC7");
@@ -12,13 +14,13 @@ CameraGimbalConfig::CameraGimbalConfig(QWidget *parent) : AP2ConfigWidget(parent
     ui.tiltChannelComboBox->addItem("RC10");
     ui.tiltChannelComboBox->addItem("RC11");
 
-    ui.tiltInputChannelComboBox->addItem("Disable");
+    ui.tiltInputChannelComboBox->addItem(tr("Disable"));
     ui.tiltInputChannelComboBox->addItem("RC5");
     ui.tiltInputChannelComboBox->addItem("RC6");
     ui.tiltInputChannelComboBox->addItem("RC7");
     ui.tiltInputChannelComboBox->addItem("RC8");
 
-    ui.rollChannelComboBox->addItem("Disable");
+    ui.rollChannelComboBox->addItem(tr("Disable"));
     ui.rollChannelComboBox->addItem("RC5");
     ui.rollChannelComboBox->addItem("RC6");
     ui.rollChannelComboBox->addItem("RC7");
@@ -26,14 +28,14 @@ CameraGimbalConfig::CameraGimbalConfig(QWidget *parent) : AP2ConfigWidget(parent
     ui.rollChannelComboBox->addItem("RC10");
     ui.rollChannelComboBox->addItem("RC11");
 
-    ui.rollInputChannelComboBox->addItem("Disable");
+    ui.rollInputChannelComboBox->addItem(tr("Disable"));
     ui.rollInputChannelComboBox->addItem("RC5");
     ui.rollInputChannelComboBox->addItem("RC6");
     ui.rollInputChannelComboBox->addItem("RC7");
     ui.rollInputChannelComboBox->addItem("RC8");
 
 
-    ui.panChannelComboBox->addItem("Disable");
+    ui.panChannelComboBox->addItem(tr("Disable"));
     ui.panChannelComboBox->addItem("RC5");
     ui.panChannelComboBox->addItem("RC6");
     ui.panChannelComboBox->addItem("RC7");
@@ -41,16 +43,16 @@ CameraGimbalConfig::CameraGimbalConfig(QWidget *parent) : AP2ConfigWidget(parent
     ui.panChannelComboBox->addItem("RC10");
     ui.panChannelComboBox->addItem("RC11");
 
-    ui.panInputChannelComboBox->addItem("Disable");
+    ui.panInputChannelComboBox->addItem(tr("Disable"));
     ui.panInputChannelComboBox->addItem("RC5");
     ui.panInputChannelComboBox->addItem("RC6");
     ui.panInputChannelComboBox->addItem("RC7");
     ui.panInputChannelComboBox->addItem("RC8");
 
 
-    ui.shutterChannelComboBox->addItem("Disable");
-    ui.shutterChannelComboBox->addItem("Relay");
-    ui.shutterChannelComboBox->addItem("Transistor");
+    ui.shutterChannelComboBox->addItem(tr("Disable"));
+    ui.shutterChannelComboBox->addItem(tr("Relay"));
+    ui.shutterChannelComboBox->addItem(tr("Transistor"));
     ui.shutterChannelComboBox->addItem("RC5");
     ui.shutterChannelComboBox->addItem("RC6");
     ui.shutterChannelComboBox->addItem("RC7");
@@ -100,13 +102,13 @@ void CameraGimbalConfig::updateTilt()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
-    if (!tiltPrefix.isEmpty())
+    if (!m_tiltPrefix.isEmpty())
     {
         //We need to set this to 0 for disabled.
-        m_uas->getParamManager()->setParameter(1,tiltPrefix + "FUNCTION",0);
+        m_uas->getParamManager()->setParameter(1,m_tiltPrefix + "FUNCTION",0);
     }
     if (ui.tiltChannelComboBox->currentIndex() == 0)
     {
@@ -134,7 +136,7 @@ void CameraGimbalConfig::updateRoll()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->getParamManager()->setParameter(1,ui.rollChannelComboBox->currentText() + "_FUNCTION",8);
@@ -157,7 +159,7 @@ void CameraGimbalConfig::updatePan()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->getParamManager()->setParameter(1,ui.panChannelComboBox->currentText() + "_FUNCTION",6);
@@ -180,7 +182,7 @@ void CameraGimbalConfig::updateShutter()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     if (ui.shutterChannelComboBox->currentIndex() == 0) //Disabled
@@ -216,24 +218,6 @@ CameraGimbalConfig::~CameraGimbalConfig()
 
 void CameraGimbalConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-    disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-    connect(ui.tiltInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-    disconnect(ui.tiltInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-
-    connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-    disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-    connect(ui.panInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-    disconnect(ui.panInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-
-    connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-    disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-    connect(ui.rollInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-    disconnect(ui.rollInputChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-
-    connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
-    disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
-
     if (parameterName == "MNT_ANGMIN_TIL") //TILT
     {
         ui.tiltAngleMinSpinBox->setValue(value.toInt() / 100.0);
@@ -327,7 +311,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
         }
         connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
     }
-    if (parameterName.startsWith(shutterPrefix) && !shutterPrefix.isEmpty())
+    if (parameterName.startsWith(m_shutterPrefix) && !m_shutterPrefix.isEmpty())
     {
         if (parameterName.endsWith("MIN"))
         {
@@ -338,7 +322,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             ui.shutterServoMaxSpinBox->setValue(value.toInt());
         }
     }
-    else if (parameterName.startsWith(tiltPrefix) && !tiltPrefix.isEmpty())
+    else if (parameterName.startsWith(m_tiltPrefix) && !m_tiltPrefix.isEmpty())
     {
         if (parameterName.endsWith("MIN"))
         {
@@ -360,7 +344,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             }
         }
     }
-    else if (parameterName.startsWith(rollPrefix) && !rollPrefix.isEmpty())
+    else if (parameterName.startsWith(m_rollPrefix) && !m_rollPrefix.isEmpty())
     {
         if (parameterName.endsWith("MIN"))
         {
@@ -382,7 +366,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             }
         }
     }
-    else if (parameterName.startsWith(panPrefix) && !panPrefix.isEmpty())
+    else if (parameterName.startsWith(m_panPrefix) && !m_panPrefix.isEmpty())
     {
         if (parameterName.endsWith("MIN"))
         {
@@ -412,7 +396,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
             ui.shutterChannelComboBox->setCurrentIndex(3);
             connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
-            shutterPrefix = "RC5_";
+            m_shutterPrefix = "RC5_";
         }
         else if (value.toInt() == 8)
         {
@@ -420,7 +404,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
             ui.rollChannelComboBox->setCurrentIndex(1);
             connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-            rollPrefix = "RC5_";
+            m_rollPrefix = "RC5_";
         }
         else if (value.toInt() == 7)
         {
@@ -428,7 +412,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
             ui.tiltChannelComboBox->setCurrentIndex(1);
             connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-            tiltPrefix = "RC5_";
+            m_tiltPrefix = "RC5_";
         }
         else if (value.toInt() == 6)
         {
@@ -436,7 +420,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
             ui.panChannelComboBox->setCurrentIndex(1);
             connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-            panPrefix = "RC5_";
+            m_panPrefix = "RC5_";
         }
         m_uas->getParamManager()->requestParameterUpdate(1,"RC5_MIN");
         m_uas->getParamManager()->requestParameterUpdate(1,"RC5_MAX");
@@ -450,7 +434,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
             ui.shutterChannelComboBox->setCurrentIndex(4);
             connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
-            shutterPrefix = "RC6_";
+            m_shutterPrefix = "RC6_";
         }
         else if (value.toInt() == 8)
         {
@@ -458,7 +442,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
             ui.rollChannelComboBox->setCurrentIndex(2);
             connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-            rollPrefix = "RC6_";
+            m_rollPrefix = "RC6_";
         }
         else if (value.toInt() == 7)
         {
@@ -466,7 +450,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
             ui.tiltChannelComboBox->setCurrentIndex(2);
             connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-            tiltPrefix = "RC6_";
+            m_tiltPrefix = "RC6_";
         }
         else if (value.toInt() == 6)
         {
@@ -474,7 +458,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
             ui.panChannelComboBox->setCurrentIndex(2);
             connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-            panPrefix = "RC6_";
+            m_panPrefix = "RC6_";
         }
         m_uas->getParamManager()->requestParameterUpdate(1,"RC6_MIN");
         m_uas->getParamManager()->requestParameterUpdate(1,"RC6_MAX");
@@ -488,7 +472,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
             ui.shutterChannelComboBox->setCurrentIndex(5);
             connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
-            shutterPrefix = "RC7_";
+            m_shutterPrefix = "RC7_";
         }
         else if (value.toInt() == 8)
         {
@@ -496,7 +480,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
             ui.rollChannelComboBox->setCurrentIndex(3);
             connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-            rollPrefix = "RC7_";
+            m_rollPrefix = "RC7_";
         }
         else if (value.toInt() == 7)
         {
@@ -504,7 +488,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
             ui.tiltChannelComboBox->setCurrentIndex(3);
             connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-            tiltPrefix = "RC7_";
+            m_tiltPrefix = "RC7_";
         }
         else if (value.toInt() == 6)
         {
@@ -512,7 +496,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
             ui.panChannelComboBox->setCurrentIndex(3);
             connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-            panPrefix = "RC7_";
+            m_panPrefix = "RC7_";
         }
         m_uas->getParamManager()->requestParameterUpdate(1,"RC7_MIN");
         m_uas->getParamManager()->requestParameterUpdate(1,"RC7_MAX");
@@ -526,7 +510,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
             ui.shutterChannelComboBox->setCurrentIndex(6);
             connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
-            shutterPrefix = "RC8_";
+            m_shutterPrefix = "RC8_";
         }
         else if (value.toInt() == 8)
         {
@@ -534,7 +518,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
             ui.rollChannelComboBox->setCurrentIndex(4);
             connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-            rollPrefix = "RC8_";
+            m_rollPrefix = "RC8_";
         }
         else if (value.toInt() == 7)
         {
@@ -542,7 +526,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
             ui.tiltChannelComboBox->setCurrentIndex(4);
             connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-            tiltPrefix = "RC8_";
+            m_tiltPrefix = "RC8_";
         }
         else if (value.toInt() == 6)
         {
@@ -550,7 +534,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
             ui.panChannelComboBox->setCurrentIndex(4);
             connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-            panPrefix = "RC8_";
+            m_panPrefix = "RC8_";
         }
         m_uas->getParamManager()->requestParameterUpdate(1,"RC8_MIN");
         m_uas->getParamManager()->requestParameterUpdate(1,"RC8_MAX");
@@ -564,7 +548,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
             ui.shutterChannelComboBox->setCurrentIndex(7);
             connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
-            shutterPrefix = "RC10_";
+            m_shutterPrefix = "RC10_";
         }
         else if (value.toInt() == 8)
         {
@@ -572,7 +556,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
             ui.rollChannelComboBox->setCurrentIndex(5);
             connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-            rollPrefix = "RC10_";
+            m_rollPrefix = "RC10_";
         }
         else if (value.toInt() == 7)
         {
@@ -580,7 +564,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
             ui.tiltChannelComboBox->setCurrentIndex(5);
             connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-            tiltPrefix = "RC10_";
+            m_tiltPrefix = "RC10_";
         }
         else if (value.toInt() == 6)
         {
@@ -588,7 +572,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
             ui.panChannelComboBox->setCurrentIndex(5);
             connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-            panPrefix = "RC10_";
+            m_panPrefix = "RC10_";
         }
         m_uas->getParamManager()->requestParameterUpdate(1,"RC10_MIN");
         m_uas->getParamManager()->requestParameterUpdate(1,"RC10_MAX");
@@ -602,7 +586,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
             ui.shutterChannelComboBox->setCurrentIndex(8);
             connect(ui.shutterChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateShutter()));
-            shutterPrefix = "RC11_";
+            m_shutterPrefix = "RC11_";
         }
         else if (value.toInt() == 8)
         {
@@ -610,7 +594,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
             ui.rollChannelComboBox->setCurrentIndex(6);
             connect(ui.rollChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateRoll()));
-            rollPrefix = "RC11_";
+            m_rollPrefix = "RC11_";
         }
         else if (value.toInt() == 7)
         {
@@ -618,7 +602,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
             ui.tiltChannelComboBox->setCurrentIndex(6);
             connect(ui.tiltChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updateTilt()));
-            tiltPrefix = "RC11_";
+            m_tiltPrefix = "RC11_";
         }
         else if (value.toInt() == 6)
         {
@@ -626,7 +610,7 @@ void CameraGimbalConfig::parameterChanged(int uas, int component, QString parame
             disconnect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
             ui.panChannelComboBox->setCurrentIndex(6);
             connect(ui.panChannelComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(updatePan()));
-            panPrefix = "RC11_";
+            m_panPrefix = "RC11_";
         }
         m_uas->getParamManager()->requestParameterUpdate(1,"RC11_MIN");
         m_uas->getParamManager()->requestParameterUpdate(1,"RC11_MAX");

src/ui/configuration/CameraGimbalConfig.h

@@ -21,10 +21,10 @@ private slots:
 
 private:
     Ui::CameraGimbalConfig ui;
-    QString shutterPrefix;
-    QString rollPrefix;
-    QString tiltPrefix;
-    QString panPrefix;
+    QString m_shutterPrefix;
+    QString m_rollPrefix;
+    QString m_tiltPrefix;
+    QString m_panPrefix;
 };
 
 #endif // CAMERAGIMBALCONFIG_H

src/ui/configuration/CompassConfig.cc

@@ -1,7 +1,7 @@
 #include "CompassConfig.h"
 
 
-CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent)
+CompassConfig::CompassConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     m_uas=0;
     ui.setupUi(this);
@@ -13,9 +13,6 @@ CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent)
     connect(ui.autoDecCheckBox,SIGNAL(clicked(bool)),this,SLOT(autoDecClicked(bool)));
     connect(ui.orientationComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(orientationComboChanged(int)));
 
-    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
-    activeUASSet(UASManager::instance()->getActiveUAS());
-
     ui.orientationComboBox->addItem("ROTATION_NONE");
     ui.orientationComboBox->addItem("ROTATION_YAW_45");
     ui.orientationComboBox->addItem("ROTATION_YAW_90");
@@ -47,16 +44,6 @@ CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent)
 CompassConfig::~CompassConfig()
 {
 }
-void CompassConfig::activeUASSet(UASInterface *uas)
-{
-    if (!uas) return;
-    if (!m_uas)
-    {
-        disconnect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-    }
-    m_uas = uas;
-    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-}
 void CompassConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
     if (parameterName == "MAG_ENABLE")

src/ui/configuration/CompassConfig.h

@@ -5,7 +5,8 @@
 #include "ui_CompassConfig.h"
 #include "UASManager.h"
 #include "UASInterface.h"
-class CompassConfig : public QWidget
+#include "AP2ConfigWidget.h"
+class CompassConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -13,7 +14,6 @@ public:
     explicit CompassConfig(QWidget *parent = 0);
     ~CompassConfig();
 private slots:
-    void activeUASSet(UASInterface *uas);
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
     void enableClicked(bool enabled);
     void autoDecClicked(bool enabled);

src/ui/configuration/FailSafeConfig.cc

@@ -87,6 +87,7 @@ void FailSafeConfig::gcsChecked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -103,6 +104,7 @@ void FailSafeConfig::throttleActionChecked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -119,6 +121,7 @@ void FailSafeConfig::throttleChecked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -135,6 +138,7 @@ void FailSafeConfig::throttlePwmChanged()
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->setParameter(1,"THR_FS_VALUE",ui.throttlePwmSpinBox->value());
@@ -144,6 +148,7 @@ void FailSafeConfig::throttleFailSafeChanged(int index)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->setParameter(1,"FS_THR_ENABLE",index);
@@ -153,6 +158,7 @@ void FailSafeConfig::fsLongClicked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -169,6 +175,7 @@ void FailSafeConfig::fsShortClicked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -185,6 +192,7 @@ void FailSafeConfig::batteryFailChecked(bool checked)
 {
     if (!m_uas)
     {
+        showNullMAVErrorMessageBox();
         return;
     }
     if (checked)
@@ -202,11 +210,21 @@ FailSafeConfig::~FailSafeConfig()
 }
 void FailSafeConfig::activeUASSet(UASInterface *uas)
 {
+    if (m_uas)
+    {
+        disconnect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
+        disconnect(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)));
+        disconnect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
+    }
     AP2ConfigWidget::activeUASSet(uas);
-    connect(uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
-    connect(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(uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
-    if (uas->getSystemType() == MAV_TYPE_FIXED_WING)
+    if (!uas)
+    {
+        return;
+    }
+    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)));
+    if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
     {
         ui.batteryFailCheckBox->setVisible(false);
         ui.throttleFailSafeComboBox->setVisible(false);
@@ -221,7 +239,7 @@ void FailSafeConfig::activeUASSet(UASInterface *uas)
         ui.fsLongCheckBox->setVisible(true);
         ui.fsShortCheckBox->setVisible(true);
     }
-    else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
+    else if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
     {
         ui.batteryFailCheckBox->setVisible(true);
         ui.throttleFailSafeComboBox->setVisible(true);

src/ui/configuration/FlightModeConfig.cc

@@ -1,25 +1,25 @@
 #include "FlightModeConfig.h"
 
 
-FlightModeConfig::FlightModeConfig(QWidget *parent) : QWidget(parent)
+FlightModeConfig::FlightModeConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
     connect(ui.savePushButton,SIGNAL(clicked()),this,SLOT(saveButtonClicked()));
-    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(setActiveUAS(UASInterface*)));
 }
 
 FlightModeConfig::~FlightModeConfig()
 {
 }
-void FlightModeConfig::setActiveUAS(UASInterface *uas)
+void FlightModeConfig::activeUASSet(UASInterface *uas)
 {
-    if (!uas) return;
     if (m_uas)
     {
+        disconnect(m_uas,SIGNAL(modeChanged(int,QString,QString)),this,SLOT(modeChanged(int,QString,QString)));
+        disconnect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
     }
-    m_uas = uas;
+    AP2ConfigWidget::activeUASSet(uas);
+    if (!uas) return;
     connect(m_uas,SIGNAL(modeChanged(int,QString,QString)),this,SLOT(modeChanged(int,QString,QString)));
-    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
     connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
     QStringList itemlist;
     if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)

src/ui/configuration/FlightModeConfig.h

@@ -5,8 +5,9 @@
 #include "ui_FlightModeConfig.h"
 #include "UASInterface.h"
 #include "UASManager.h"
+#include "AP2ConfigWidget.h"
 
-class FlightModeConfig : public QWidget
+class FlightModeConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -14,7 +15,7 @@ public:
     explicit FlightModeConfig(QWidget *parent = 0);
     ~FlightModeConfig();
 private slots:
-    void setActiveUAS(UASInterface *uas);
+    void activeUASSet(UASInterface *uas);
     void saveButtonClicked();
     void modeChanged(int sysId, QString status, QString description);
     void remoteControlChannelRawChanged(int chan,float val);

src/ui/configuration/FrameTypeConfig.cc

@@ -32,9 +32,8 @@ This file is part of the QGROUNDCONTROL project
 #include "FrameTypeConfig.h"
 
 
-FrameTypeConfig::FrameTypeConfig(QWidget *parent) : QWidget(parent)
+FrameTypeConfig::FrameTypeConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
-    m_uas=0;
     ui.setupUi(this);
 
     //Disable until we get a FRAME parameter.
@@ -45,23 +44,11 @@ FrameTypeConfig::FrameTypeConfig(QWidget *parent) : QWidget(parent)
     connect(ui.plusRadioButton,SIGNAL(clicked()),this,SLOT(plusFrameSelected()));
     connect(ui.xRadioButton,SIGNAL(clicked()),this,SLOT(xFrameSelected()));
     connect(ui.vRadioButton,SIGNAL(clicked()),this,SLOT(vFrameSelected()));
-    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
-    activeUASSet(UASManager::instance()->getActiveUAS());
 }
 
 FrameTypeConfig::~FrameTypeConfig()
 {
 }
-void FrameTypeConfig::activeUASSet(UASInterface *uas)
-{
-    if (!uas) return;
-    if (!m_uas)
-    {
-        disconnect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-    }
-    m_uas = uas;
-    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-}
 void FrameTypeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
     if (parameterName == "FRAME")

src/ui/configuration/FrameTypeConfig.h

@@ -37,7 +37,8 @@ This file is part of the QGROUNDCONTROL project
 #include "UASInterface.h"
 #include "UASManager.h"
 #include "QGCUASParamManager.h"
-class FrameTypeConfig : public QWidget
+#include "AP2ConfigWidget.h"
+class FrameTypeConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -45,7 +46,6 @@ public:
     explicit FrameTypeConfig(QWidget *parent = 0);
     ~FrameTypeConfig();
 private slots:
-    void activeUASSet(UASInterface *uas);
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
     void xFrameSelected();
     void plusFrameSelected();

src/ui/configuration/OsdConfig.cc

@@ -14,7 +14,7 @@ void OsdConfig::enableButtonClicked()
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->getParamManager()->setParameter(1,"SR0_EXT_STAT",2);

src/ui/configuration/RadioCalibrationConfig.cc

@@ -32,15 +32,12 @@ This file is part of the QGROUNDCONTROL project
 #include "RadioCalibrationConfig.h"
 #include <QMessageBox>
 
-RadioCalibrationConfig::RadioCalibrationConfig(QWidget *parent) : QWidget(parent)
+RadioCalibrationConfig::RadioCalibrationConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
 
     connect(ui.calibrateButton,SIGNAL(clicked()),this,SLOT(calibrateButtonClicked()));
-    m_uas = 0;
     m_calibrationEnabled = false;
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-    setActiveUAS(UASManager::instance()->getActiveUAS());
     ui.rollWidget->setMin(800);
     ui.rollWidget->setMax(2200);
     ui.pitchWidget->setMin(800);
@@ -79,20 +76,18 @@ RadioCalibrationConfig::RadioCalibrationConfig(QWidget *parent) : QWidget(parent
 RadioCalibrationConfig::~RadioCalibrationConfig()
 {
 }
-void RadioCalibrationConfig::setActiveUAS(UASInterface *uas)
+void RadioCalibrationConfig::activeUASSet(UASInterface *uas)
 {
-    if (uas==NULL) return;
-
     if (m_uas)
     {
-        // Disconnect old system
         disconnect(m_uas, SIGNAL(remoteControlChannelRawChanged(int,float)), this,SLOT(remoteControlChannelRawChanged(int,float)));
-        disconnect(m_uas, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,SLOT(parameterChanged(int,int,QString,QVariant)));
     }
-    m_uas = uas;
+    AP2ConfigWidget::activeUASSet(uas);
+    if (!uas)
+    {
+        return;
+    }
     connect(m_uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanged(int,float)));
-    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
-
 }
 void RadioCalibrationConfig::remoteControlChannelRawChanged(int chan,float val)
 {

src/ui/configuration/RadioCalibrationConfig.h

@@ -39,7 +39,8 @@ This file is part of the QGROUNDCONTROL project
 #include "ui_RadioCalibrationConfig.h"
 #include "UASManager.h"
 #include "UASInterface.h"
-class RadioCalibrationConfig : public QWidget
+#include "AP2ConfigWidget.h"
+class RadioCalibrationConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
@@ -50,7 +51,7 @@ protected:
     void showEvent(QShowEvent *event);
     void hideEvent(QHideEvent *event);
 private slots:
-    void setActiveUAS(UASInterface *uas);
+    void activeUASSet(UASInterface *uas);
     void remoteControlChannelRawChanged(int chan,float val);
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
     void guiUpdateTimerTick();

src/ui/configuration/StandardParamConfig.cc

@@ -7,13 +7,6 @@ StandardParamConfig::StandardParamConfig(QWidget *parent) : AP2ConfigWidget(pare
 StandardParamConfig::~StandardParamConfig()
 {
 }
-
-
-void StandardParamConfig::activeUASSet(UASInterface *uas)
-{
-
-    AP2ConfigWidget::activeUASSet(uas);
-}
 void StandardParamConfig::addRange(QString title,QString description,QString param,double min,double max)
 {
     ParamWidget *widget = new ParamWidget(ui.scrollAreaWidgetContents);

src/ui/configuration/StandardParamConfig.h

@@ -18,7 +18,6 @@ private slots:
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
 private:
     QMap<QString,ParamWidget*> paramToWidgetMap;
-    void activeUASSet(UASInterface *uas);
     Ui::StandardParamConfig ui;
 };