Merge pull request #338 from tstellanova/config_debug

RC calibration and mapping debug

src/uas/QGCUASParamManager.cc

@@ -111,12 +111,15 @@ void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant va
     paramDataModel.updatePendingParamWithValue(compId,paramName,value);
 }
 
-void QGCUASParamManager::sendPendingParameters()
+void QGCUASParamManager::sendPendingParameters(bool persistAfterSend)
 {
-    paramCommsMgr->sendPendingParameters();
+    paramCommsMgr->sendPendingParameters(persistAfterSend);
 }
 
-void QGCUASParamManager::setPendingParam(int compId,  QString& paramName,  const QVariant& value)
+
+
+
+void QGCUASParamManager::setPendingParam(int compId,  const QString& paramName,  const QVariant& value)
 {
     paramDataModel.updatePendingParamWithValue(compId,paramName,value);
 }

src/uas/QGCUASParamManager.h

@@ -84,8 +84,11 @@ public slots:
     /** @brief Send one parameter to the MAV: changes value in transient memory of MAV */
     virtual void setParameter(int component, QString parameterName, QVariant value);
 
-    /** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory */
-    virtual void sendPendingParameters();
+    /** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory
+     * @param persistAfterSend  If true, all parameters will be written to persistent storage as well
+    */
+    virtual void sendPendingParameters(bool persistAfterSend = false);
+
 
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList();
@@ -93,7 +96,8 @@ public slots:
     /** @brief Request a list of params onboard the MAV if the onboard param list we have is empty */
     virtual void requestParameterListIfEmpty();
 
-    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+    /** @brief queue a pending parameter for sending to the MAV */
+    virtual void setPendingParam(int componentId,  const QString& key,  const QVariant& value);
 
     /** @brief remove all params from the pending list */
     virtual void clearAllPendingParams();

src/uas/UASParameterCommsMgr.cc

@@ -78,9 +78,6 @@ void UASParameterCommsMgr::requestParameterList()
         return;
     }
 
-    //TODO check: no need to cause datamodel to forget params here?
-//    paramDataModel->forgetAllOnboardParameters();
-
     if (!transmissionListMode) {
         // Clear transmission state
         receivedParamsList.clear();
@@ -216,7 +213,7 @@ void UASParameterCommsMgr::resendReadWriteRequests()
     }
 
     if ((0 == requestedWriteCount) && (0 == requestedReadCount) ) {
-        qDebug() << __FILE__ << __LINE__ << "NO re-read or rewrite requests??";
+        qDebug() << __FILE__ << __LINE__ << "No pending re-read or rewrite requests";
         if (!transmissionListMode) {
             setRetransmissionGuardEnabled(false);
             transmissionActive = false;
@@ -427,6 +424,8 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
 {
     Q_UNUSED(uas); //this object is assigned to one UAS only
 
+    qDebug() << "compId" << compId << "receivedParameterUpdate:" << paramName;
+
     //notify the data model that we have an updated param
     paramDataModel->handleParamUpdate(compId,paramName,value);
 
@@ -474,6 +473,10 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
 
     // Mark this parameter as received in write ACK list
     QMap<QString, QVariant>* compMissWritePackets = missingWriteAckPackets.value(compId);
+    if (!compMissWritePackets) {
+        //we sometimes send a write request on compId 0 and get a response on a nonzero compId eg 50
+        compMissWritePackets = missingWriteAckPackets.value(0);
+    }
     if (compMissWritePackets && compMissWritePackets->contains(paramName)) {
         justWritten = true;
         if (compMissWritePackets->value(paramName) != value) {
@@ -498,6 +501,10 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
             setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3 [%5]").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount).arg(missWriteCount));
             if (0 == missWriteCount) {
                 setParameterStatusMsg(tr("SUCCESS: WROTE ALL PARAMETERS"));
+                if (persistParamsAfterSend) {
+                    writeParamsToPersistentStorage();
+                    persistParamsAfterSend = false;
+                }
             }
         }
         else  {
@@ -563,12 +570,15 @@ void UASParameterCommsMgr::writeParamsToPersistentStorage()
 {
     if (mav) {
         mav->writeParametersToStorage(); //TODO track timeout, retransmit etc?
+        persistParamsAfterSend = false; //done
     }
 }
 
 
-void UASParameterCommsMgr::sendPendingParameters()
+void UASParameterCommsMgr::sendPendingParameters(bool copyToPersistent)
 {
+    persistParamsAfterSend |= copyToPersistent;
+
     // Iterate through all components, through all pending parameters and send them to UAS
     int parametersSent = 0;
     QMap<int, QMap<QString, QVariant>*>* changedValues = paramDataModel->getAllPendingParams();
@@ -590,7 +600,11 @@ void UASParameterCommsMgr::sendPendingParameters()
     // Change transmission status if necessary
     if (parametersSent == 0) {
         setParameterStatusMsg(tr("No transmission: No changed values."),ParamCommsStatusLevel_Warning);
-    } else {
+        if (persistParamsAfterSend) {
+            writeParamsToPersistentStorage();
+        }
+    }
+    else {
         setParameterStatusMsg(tr("Transmitting %1 parameters.").arg(parametersSent));
         // Set timeouts
         if (transmissionActive) {

src/uas/UASParameterCommsMgr.h

@@ -64,7 +64,7 @@ signals:
 
 public slots:
     /** @brief  Iterate through all components, through all pending parameters and send them to UAS */
-    virtual void sendPendingParameters();
+    virtual void sendPendingParameters(bool copyToPersistent = false);
 
     /** @brief  Write the current onboard parameters from transient RAM into persistent storage, e.g. EEPROM or harddisk */
     virtual void writeParamsToPersistentStorage();
@@ -99,6 +99,7 @@ protected:
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
     bool transmissionActive;         ///< Missing packets, working on list?
+    bool persistParamsAfterSend; ///< Copy all parameters to persistent storage after sending
     quint64 transmissionTimeout;     ///< Timeout
     QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
     quint64 lastTimerReset;     ///< Last time the guard timer was reset, to prevent premature firing

src/uas/UASParameterDataModel.cc

@@ -45,7 +45,7 @@ int UASParameterDataModel::countOnboardParams()
 }
 
 
-bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key, const QVariant& value)
+bool UASParameterDataModel::updatePendingParamWithValue(int compId, const QString& key, const QVariant& value)
 {
     bool pending = true;
     //ensure we have this component in our onboard and pending lists already
@@ -76,7 +76,7 @@ bool UASParameterDataModel::isParamChangePending(int compId, const QString& key)
     return ((NULL != pendingParms) && pendingParms->contains(key));
 }
 
-void UASParameterDataModel::setPendingParam(int compId, QString& key,  const QVariant &value)
+void UASParameterDataModel::setPendingParam(int compId, const QString& key,  const QVariant &value)
 {
     //ensure we have a placeholder map for this component
     addComponent(compId);
@@ -101,7 +101,7 @@ void UASParameterDataModel::removePendingParam(int compId, const QString& key)
     }
 }
 
-void UASParameterDataModel::setOnboardParam(int compId, QString& key,  const QVariant& value)
+void UASParameterDataModel::setOnboardParam(int compId, const QString &key,  const QVariant& value)
 {
     //ensure we have a placeholder map for this component
     addComponent(compId);
@@ -109,7 +109,7 @@ void UASParameterDataModel::setOnboardParam(int compId, QString& key,  const QVa
     params->insert(key,value);
 }
 
-void UASParameterDataModel::setOnboardParamWithType(int compId, QString& key, QVariant& value)
+void UASParameterDataModel::setOnboardParamWithType(int compId, const QString& key, const QVariant &value)
 {
 
     switch ((int)value.type())
@@ -155,7 +155,7 @@ void UASParameterDataModel::addComponent(int compId)
 }
 
 
-void UASParameterDataModel::handleParamUpdate(int compId, QString& paramName, QVariant& value)
+void UASParameterDataModel::handleParamUpdate(int compId, const QString &paramName, const QVariant &value)
 {
     //verify that the value requested by the user matches the set value
     //if it doesn't match, leave the pending parameter in the pending list!

src/uas/UASParameterDataModel.h

@@ -42,7 +42,7 @@ public:
     virtual QList<int> getComponentForOnboardParam(const QString& parameter) const;
 
     /** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
-    virtual void setOnboardParamWithType(int componentId, QString& key, QVariant& value);
+    virtual void setOnboardParamWithType(int componentId, const QString &key, const QVariant& value);
 
     /** @brief clears every parameter for every loaded component */
     virtual void forgetAllOnboardParams();
@@ -52,8 +52,8 @@ public:
     /** @brief add this parameter to pending list iff it has changed from onboard value
      * @return true if the parameter is now pending
     */
-    virtual bool updatePendingParamWithValue(int componentId, QString& key,  const QVariant &value);
-    virtual void handleParamUpdate(int componentId, QString& key, QVariant& value);
+    virtual bool updatePendingParamWithValue(int componentId, const QString &key,  const QVariant &value);
+    virtual void handleParamUpdate(int componentId, const QString& key, const QVariant& value);
     virtual bool getOnboardParamValue(int componentId, const QString& key, QVariant& value) const;
 
     virtual bool isParamChangePending(int componentId,const QString& key);
@@ -89,10 +89,10 @@ public:
 
 protected:
     /** @brief set the confirmed value of a parameter in the onboard params list */
-    virtual void setOnboardParam(int componentId, QString& key, const QVariant& value);
+    virtual void setOnboardParam(int componentId, const QString& key, const QVariant& value);
 
     /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
-    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+    virtual void setPendingParam(int componentId,  const QString &key,  const QVariant& value);
     /** @brief remove a parameter from the pending list */
     virtual void removePendingParam(int compId, const QString &key);
 

src/ui/QGCPX4VehicleConfig.cc

@@ -16,7 +16,7 @@
 #include "QGCPX4VehicleConfig.h"
 
 #include "QGC.h"
-#include "QGCPendingParamWidget.h"
+//#include "QGCPendingParamWidget.h"
 #include "QGCToolWidget.h"
 #include "UASManager.h"
 #include "UASParameterCommsMgr.h"
@@ -38,6 +38,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     QWidget(parent),
     mav(NULL),
     chanCount(0),
+    channelWanted(-1),
     rcRoll(0.0f),
     rcPitch(0.0f),
     rcYaw(0.0f),
@@ -47,7 +48,6 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     rcAux2(0.0f),
     rcAux3(0.0f),
     dataModelChanged(true),
-    channelWanted(-1),
     rc_mode(RC_MODE_NONE),
     calibrationEnabled(false),
     px4AirframeConfig(NULL),
@@ -160,13 +160,15 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     connect(ui->subButton, SIGNAL(clicked()), this, SLOT(identifySubModeChannel()));
     connect(ui->aux1Button, SIGNAL(clicked()), this, SLOT(identifyAux1Channel()));
     connect(ui->aux2Button, SIGNAL(clicked()), this, SLOT(identifyAux2Channel()));
+    connect(ui->persistRcValuesButt,SIGNAL(clicked()), this, SLOT(writeCalibrationRC()));
 
+    //set rc values to defaults
     for (unsigned int i = 0; i < chanMax; i++) {
         rcValue[i] = UINT16_MAX;
         rcMapping[i] = i;
-        channelWantedList[i] = UINT16_MAX;
-        rcMin[i] = 1000;
-        rcMax[i] = 2000;
+        channelWantedList[i] = (float)UINT16_MAX;//TODO need to clean these up!
+        rcMin[i] = 1000.0f;
+        rcMax[i] = 2000.0f;
     }
 
     updateTimer.setInterval(150);
@@ -211,28 +213,30 @@ void QGCPX4VehicleConfig::identifyChannelMapping(int aert_index)
         return;
 
     int oldmapping = rcMapping[aert_index];
-
     channelWanted = aert_index;
 
-    for (unsigned i = 0; i < sizeof(channelWantedList) / sizeof(channelWantedList[0]); i++)
-    {
+    for (unsigned i = 0; i < chanMax; i++) {
         if (i >= chanCount) {
             channelWantedList[i] = 0;
-        } else {
+        }
+        else {
             channelWantedList[i] = rcValue[i];
         }
     }
 
     msgBox.setText(tr("Identifying %1 channel").arg(channelNames[channelWanted]));
     msgBox.setInformativeText(tr("Please move stick, switch or potentiometer for the %1 channel\n all the way up/down or left/right.").arg(channelNames[channelWanted]));
-    msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
-    msgBox.setDefaultButton(QMessageBox::Cancel);
-    if (QMessageBox::Cancel == msgBox.exec())
-    {
+    msgBox.setStandardButtons(QMessageBox::Ok);
+    skipActionButton = msgBox.addButton(tr("Skip"),QMessageBox::RejectRole);
+    msgBox.setDefaultButton(QMessageBox::Ok);
+    msgBox.exec();
+    skipActionButton->hide();
+    msgBox.removeButton(skipActionButton);
+    if (msgBox.clickedButton() == skipActionButton ){
         channelWanted = -1;
         rcMapping[aert_index] = oldmapping;
-        return;
     }
+    skipActionButton = NULL;
 
 }
 
@@ -264,36 +268,42 @@ void QGCPX4VehicleConfig::toggleCalibrationRC(bool enabled)
 
 void QGCPX4VehicleConfig::setTrimPositions()
 {
+    int rollMap = rcMapping[0];
+    int pitchMap = rcMapping[1];
+    int yawMap = rcMapping[2];
+    int throttleMap = rcMapping[3];
+    int modeSwMap = rcMapping[4];
+    int aux1Map = rcMapping[5];
+    int aux2Map = rcMapping[6];
+    int aux3Map = rcMapping[7];
+
     // Set trim to min if stick is close to min
-    if (abs(rcValue[rcMapping[3]] - rcMin[rcMapping[3]]) < 100)
-    {
-        rcTrim[rcMapping[3]] = rcMin[rcMapping[3]];   // throttle
+    if (abs(rcValue[throttleMap] - rcMin[throttleMap]) < 100) {
+        rcTrim[throttleMap] = rcMin[throttleMap];   // throttle
     }
     // Set trim to max if stick is close to max
-    else if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100)
-    {
-        rcTrim[rcMapping[3]] = rcMax[rcMapping[3]];   // throttle
+    else if (abs(rcValue[throttleMap] - rcMax[throttleMap]) < 100) {
+        rcTrim[throttleMap] = rcMax[throttleMap];   // throttle
     }
-    else
-    {
+    else  {
         // Reject
-        QMessageBox msgBox;
-        msgBox.setText(tr("Throttle Stick Trim Position Invalid"));
-        msgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.setDefaultButton(QMessageBox::Ok);
-        (void)msgBox.exec();
+        QMessageBox warnMsgBox;
+        warnMsgBox.setText(tr("Throttle Stick Trim Position Invalid"));
+        warnMsgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
+        warnMsgBox.setStandardButtons(QMessageBox::Ok);
+        warnMsgBox.setDefaultButton(QMessageBox::Ok);
+        (void)warnMsgBox.exec();
     }
 
     // Set trim for roll, pitch, yaw, throttle
-    rcTrim[rcMapping[0]] = rcValue[rcMapping[0]]; // roll
-    rcTrim[rcMapping[1]] = rcValue[rcMapping[1]]; // pitch
-    rcTrim[rcMapping[2]] = rcValue[rcMapping[2]]; // yaw
-
-    rcTrim[rcMapping[4]] = ((rcMax[rcMapping[4]] - rcMin[rcMapping[4]]) / 2.0f) + rcMin[rcMapping[4]];   // mode sw
-    rcTrim[rcMapping[5]] = ((rcMax[rcMapping[5]] - rcMin[rcMapping[5]]) / 2.0f) + rcMin[rcMapping[5]];   // aux 1
-    rcTrim[rcMapping[6]] = ((rcMax[rcMapping[6]] - rcMin[rcMapping[6]]) / 2.0f) + rcMin[rcMapping[6]];   // aux 2
-    rcTrim[rcMapping[7]] = ((rcMax[rcMapping[7]] - rcMin[rcMapping[7]]) / 2.0f) + rcMin[rcMapping[7]];   // aux 3
+    rcTrim[rollMap] = rcValue[rollMap]; // roll
+    rcTrim[pitchMap] = rcValue[pitchMap]; // pitch
+    rcTrim[yawMap] = rcValue[yawMap]; // yaw
+
+    rcTrim[modeSwMap] = ((rcMax[modeSwMap] - rcMin[modeSwMap]) / 2.0f) + rcMin[modeSwMap];   // mode sw
+    rcTrim[aux1Map] = ((rcMax[aux1Map] - rcMin[aux1Map]) / 2.0f) + rcMin[aux1Map];   // aux 1
+    rcTrim[aux2Map] = ((rcMax[aux2Map] - rcMin[aux2Map]) / 2.0f) + rcMin[aux2Map];   // aux 2
+    rcTrim[aux3Map] = ((rcMax[aux3Map] - rcMin[aux3Map]) / 2.0f) + rcMin[aux3Map];   // aux 3
 }
 
 void QGCPX4VehicleConfig::detectChannelInversion()
@@ -305,14 +315,15 @@ void QGCPX4VehicleConfig::startCalibrationRC()
 {
     QMessageBox::warning(0,"Warning!","You are about to start radio calibration.\nPlease ensure all motor power is disconnected AND all props are removed from the vehicle.\nAlso ensure transmitter and receiver are powered and connected\n\nDo not move the RC sticks, then click OK to confirm");
 
-    for (int i = 0; i < 5; i++) {
+    //go ahead and try to map first 8 channels, now that user can skip channels
+    for (int i = 0; i < 8; i++) {
         identifyChannelMapping(i);
     }
 
-    QMessageBox::information(0,"Information","Additional channels have not been mapped, but can be mapped in the channel table below.");
+    //QMessageBox::information(0,"Information","Additional channels have not been mapped, but can be mapped in the channel table below.");
 
     QMessageBox::information(0,"Information","Click OK, then move all sticks to their extreme positions, watching the min/max values to ensure you get the most range from your controller. This includes all switches");
-    ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
+    ui->rcCalibrationButton->setText(tr("Save RC Calibration"));
     resetCalibrationRC();
     calibrationEnabled = true;
     ui->rollWidget->showMinMax();
@@ -341,15 +352,12 @@ void QGCPX4VehicleConfig::stopCalibrationRC()
     ui->radio7Widget->hideMinMax();
     ui->radio8Widget->hideMinMax();
 
-    for (int i=0;i<chanCount;i++)
-    {
-        if (rcMin[i] > 1350)
-        {
+    for (unsigned int i = 0; i < chanCount; i++) {
+        if (rcMin[i] > 1350) {
             rcMin[i] = 1000;
         }
 
-        if (rcMax[i] < 1650)
-        {
+        if (rcMax[i] < 1650) {
             rcMax[i] = 2000;
         }
     }
@@ -362,11 +370,18 @@ void QGCPX4VehicleConfig::stopCalibrationRC()
     statusstr += "Normal values are around 1100 to 1900, with disconnected channels reading 1000, 1500, 2000\n\n";
     statusstr += "Channel\tMin\tCenter\tMax\n";
     statusstr += "--------------------\n";
-    for (int i=0;i<chanCount;i++)
-    {
+    for (unsigned int i=0; i < chanCount; i++) {
         statusstr += QString::number(i) +"\t"+ QString::number(rcMin[i]) +"\t"+ QString::number(rcValue[i]) +"\t"+ QString::number(rcMax[i]) +"\n";
     }
-    QMessageBox::information(0,"Status",statusstr);
+
+
+    msgBox.setText(tr("Confirm Calibration"));
+    msgBox.setInformativeText(statusstr);
+    msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);//allow user to cancel upload after reviewing values
+    int msgBoxResult = msgBox.exec();
+    if (QMessageBox::Cancel == msgBoxResult) {
+        return;//don't commit these values
+    }
 
     QMessageBox::information(0,"Uploading the RC Calibration","The configuration will now be uploaded and permanently stored.");
     writeCalibrationRC();
@@ -1005,7 +1020,6 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
 
     chanCount = 0;
 
-    //TODO get parameter changes via Param Mgr instead
     // Connect new system
     connect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                SLOT(remoteControlChannelRawChanged(int,float)));
@@ -1056,8 +1070,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
 
 void QGCPX4VehicleConfig::resetCalibrationRC()
 {
-    for (unsigned int i = 0; i < chanMax; ++i)
-    {
+    for (unsigned int i = 0; i < chanMax; ++i) {
         rcMin[i] = 1500;
         rcMax[i] = 1500;
     }
@@ -1070,6 +1083,8 @@ void QGCPX4VehicleConfig::writeCalibrationRC()
 {
     if (!mav) return;
 
+    updateStatus(tr("Sending RC configuration and storing to persistent memory."));
+
     QString minTpl("RC%1_MIN");
     QString maxTpl("RC%1_MAX");
     QString trimTpl("RC%1_TRIM");
@@ -1078,39 +1093,27 @@ void QGCPX4VehicleConfig::writeCalibrationRC()
     // Do not write the RC type, as these values depend on this
     // active onboard parameter
 
-    //TODO consolidate RC param sending in the UAS comms mgr
-    for (unsigned int i = 0; i < chanCount; ++i)
-    {
+    for (unsigned int i = 0; i < chanCount; ++i) {
         //qDebug() << "SENDING" << minTpl.arg(i+1) << rcMin[i];
-        mav->setParameter(0, minTpl.arg(i+1), rcMin[i]);
-        QGC::SLEEP::usleep(50000);
-        mav->setParameter(0, trimTpl.arg(i+1), rcTrim[i]);
-        QGC::SLEEP::usleep(50000);
-        mav->setParameter(0, maxTpl.arg(i+1), rcMax[i]);
-        QGC::SLEEP::usleep(50000);
-        mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1.0f : 1.0f);
-        QGC::SLEEP::usleep(50000);
+        paramMgr->setPendingParam(0, minTpl.arg(i+1), rcMin[i]);
+        paramMgr->setPendingParam(0, trimTpl.arg(i+1), rcTrim[i]);
+        paramMgr->setPendingParam(0, maxTpl.arg(i+1), rcMax[i]);
+        paramMgr->setPendingParam(0, revTpl.arg(i+1), (rcRev[i]) ? -1.0f : 1.0f);
     }
 
     // Write mappings
-    mav->setParameter(0, "RC_MAP_ROLL", (int32_t)(rcMapping[0]+1));
-    QGC::SLEEP::usleep(50000);
-    mav->setParameter(0, "RC_MAP_PITCH", (int32_t)(rcMapping[1]+1));
-    QGC::SLEEP::usleep(50000);
-    mav->setParameter(0, "RC_MAP_YAW", (int32_t)(rcMapping[2]+1));
-    QGC::SLEEP::usleep(50000);
-    mav->setParameter(0, "RC_MAP_THROTTLE", (int32_t)(rcMapping[3]+1));
-    QGC::SLEEP::usleep(50000);
-    mav->setParameter(0, "RC_MAP_MODE_SW", (int32_t)(rcMapping[4]+1));
-    QGC::SLEEP::usleep(50000);
-    mav->setParameter(0, "RC_MAP_AUX1", (int32_t)(rcMapping[5]+1));
-    QGC::SLEEP::usleep(50000);
-    mav->setParameter(0, "RC_MAP_AUX2", (int32_t)(rcMapping[6]+1));
-    QGC::SLEEP::usleep(50000);
-    mav->setParameter(0, "RC_MAP_AUX3", (int32_t)(rcMapping[7]+1));
-    QGC::SLEEP::usleep(50000);
-
-    mav->getParamManager()->copyVolatileParamsToPersistent();
+    paramMgr->setPendingParam(0, "RC_MAP_ROLL", (int32_t)(rcMapping[0]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_PITCH", (int32_t)(rcMapping[1]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_YAW", (int32_t)(rcMapping[2]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_THROTTLE", (int32_t)(rcMapping[3]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_MODE_SW", (int32_t)(rcMapping[4]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_AUX1", (int32_t)(rcMapping[5]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_AUX2", (int32_t)(rcMapping[6]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_AUX3", (int32_t)(rcMapping[7]+1));
+
+    //let the param mgr manage sending all the pending RC_foo updates and persisting after
+    paramMgr->sendPendingParameters(true);
+
 }
 
 void QGCPX4VehicleConfig::requestCalibrationRC()
@@ -1122,13 +1125,12 @@ void QGCPX4VehicleConfig::writeParameters()
 {
     updateStatus(tr("Writing all onboard parameters."));
     writeCalibrationRC();
-    mav->writeParametersToStorage();
 }
 
-void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)
+void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float fval)
 {
     // Check if index and values are sane
-    if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax || val < 500 || val > 2500)
+    if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax || fval < 500.0f || fval > 2500.0f)
         return;
 
     if (chan + 1 > (int)chanCount) {
@@ -1136,27 +1138,35 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)
     }
 
     // Raw value
-    rcValue[chan] = val;
+    int ival = (int)fval;
+    int delta = abs(ival - rcValue[chan]);
+    if (delta < 3) {
+        //ignore tiny jitter values
+        return;
+    }
+    else {
+        qDebug() << "chan" << chan << " delta:" << delta;
+        rcValue[chan] = ival;
+    }
+
 
     // Update calibration data
     if (calibrationEnabled) {
-        if (val < rcMin[chan]) {
-            rcMin[chan] = val;
+        if (fval < rcMin[chan]) {
+            rcMin[chan] = fval;
         }
-        if (val > rcMax[chan]) {
-            rcMax[chan] = val;
+        if (fval > rcMax[chan]) {
+            rcMax[chan] = fval;
         }
     }
 
     if (channelWanted >= 0) {
         // If the first channel moved considerably, pick it
-        if (fabsf(channelWantedList[chan] - val) > 300)
-        {
+        if (fabsf(channelWantedList[chan] - fval) > 300.0f) {
             rcMapping[channelWanted] = chan;
             updateInvertedCheckboxes(chan);
 
             int chanFound = channelWanted;
-
             channelWanted = -1;
 
             // Confirm found channel
@@ -1169,12 +1179,9 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)
     }
 
     // Find correct mapped channel
-    for (int i = 0; i < chanCount; i++)
-    {
-        if (chan == rcMapping[i])
-        {
-
-            rcMappedValue[i] = (rcRev[chan]) ? rcMax[chan] - (val - rcMin[chan]) : val;
+    for (unsigned int i = 0; i < chanCount; i++) {
+        if (chan == rcMapping[i]) {
+            rcMappedValue[i] = (rcRev[chan]) ? rcMax[chan] - (fval - rcMin[chan]) : fval;
 
             // Copy min / max
             rcMappedMin[i] = rcMin[chan];
@@ -1184,12 +1191,12 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)
 
     // Normalized value
     float normalized;
-
-    if (val >= rcTrim[chan]) {
-        normalized = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
+    float chanTrim = rcTrim[chan];
+    if (fval >= rcTrim[chan]) {
+        normalized = (fval - chanTrim)/(rcMax[chan] - chanTrim);
     }
     else {
-        normalized = -(rcTrim[chan] - val)/(rcTrim[chan] - rcMin[chan]);
+        normalized = -(chanTrim - fval)/(chanTrim - rcMin[chan]);
     }
 
     // Bound
@@ -1209,7 +1216,8 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)
     else if (chan == rcMapping[3]) {
         if (rcRev[chan]) {
             rcThrottle = 1.0f + normalized;
-        } else {
+        }
+        else {
             rcThrottle = normalized;
         }
 
@@ -1230,7 +1238,7 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)
 
     dataModelChanged = true;
 
-    //qDebug() << "RC CHAN:" << chan << "PPM:" << val << "NORMALIZED:" << normalized;
+    qDebug() << "RC CHAN:" << chan << "PPM:" << fval << "NORMALIZED:" << normalized;
 }
 
 void QGCPX4VehicleConfig::updateInvertedCheckboxes(int index)
@@ -1505,10 +1513,8 @@ void QGCPX4VehicleConfig::setRCType(int type)
 
 void QGCPX4VehicleConfig::checktimeOuts()
 {
-    if (rcTypeUpdateRequested > 0)
-    {
-        if (QGC::groundTimeMilliseconds() - rcTypeUpdateRequested > rcTypeTimeout)
-        {
+    if (rcTypeUpdateRequested > 0) {
+        if (QGC::groundTimeMilliseconds() - rcTypeUpdateRequested > rcTypeTimeout)  {
             updateError(tr("Setting remote control timed out - is the system connected?"));
         }
     }
@@ -1528,42 +1534,49 @@ void QGCPX4VehicleConfig::updateRcWidgetValues()
     ui->radio8Widget->setValueAndRange(rcMappedValue[7],rcMin[7],rcMax[7]);
 }
 
-void QGCPX4VehicleConfig::updateView()
+void QGCPX4VehicleConfig::updateRcChanLabels()
 {
-    if (dataModelChanged) {
-        dataModelChanged = false;
-
-        updateRcWidgetValues();
-
-        //update the channel labels
-        ui->rollChanLabel->setText(QString("%1").arg(rcRoll, 5, 'f', 2, QChar(' ')));
-        ui->pitchChanLabel->setText(QString("%1").arg(rcPitch, 5, 'f', 2, QChar(' ')));
-        ui->yawChanLabel->setText(QString("%1").arg(rcYaw, 5, 'f', 2, QChar(' ')));
-        ui->throttleChanLabel->setText(QString("%1").arg(rcThrottle, 5, 'f', 2, QChar(' ')));
+    ui->rollChanLabel->setText(labelForRcValue(rcRoll));
+    ui->pitchChanLabel->setText(labelForRcValue(rcPitch));
+    ui->yawChanLabel->setText(labelForRcValue(rcYaw));
+    ui->throttleChanLabel->setText(labelForRcValue(rcThrottle));
+
+    QString blankLabel = tr("---");
+    if (rcValue[rcMapping[4] != UINT16_MAX]) {
+        ui->modeChanLabel->setText(labelForRcValue(rcMode));
+    }
+    else {
+        ui->modeChanLabel->setText(blankLabel);
+    }
 
-        if (rcValue[rcMapping[4] != UINT16_MAX]) {
-            ui->modeChanLabel->setText(QString("%1").arg(rcMode, 5, 'f', 2, QChar(' ')));
-        } else {
-            ui->modeChanLabel->setText(tr("---"));
-        }
+    if (rcValue[rcMapping[5]] != UINT16_MAX) {
+        ui->aux1ChanLabel->setText(labelForRcValue(rcAux1));
+    }
+    else {
+        ui->aux1ChanLabel->setText(blankLabel);
+    }
 
-        if (rcValue[rcMapping[5]] != UINT16_MAX) {
-            ui->aux1ChanLabel->setText(QString("%1").arg(rcAux1, 5, 'f', 2, QChar(' ')));
-        } else {
-            ui->aux1ChanLabel->setText(tr("---"));
-        }
+    if (rcValue[rcMapping[6]] != UINT16_MAX) {
+        ui->aux2ChanLabel->setText(labelForRcValue(rcAux2));
+    }
+    else {
+        ui->aux2ChanLabel->setText(blankLabel);
+    }
 
-        if (rcValue[rcMapping[6]] != UINT16_MAX) {
-            ui->aux2ChanLabel->setText(QString("%1").arg(rcAux2, 5, 'f', 2, QChar(' ')));
-        } else {
-            ui->aux2ChanLabel->setText(tr("---"));
-        }
+    if (rcValue[rcMapping[7]] != UINT16_MAX) {
+        ui->aux3ChanLabel->setText(labelForRcValue(rcAux3));
+    }
+    else {
+        ui->aux3ChanLabel->setText(blankLabel);
+    }
+}
 
-        if (rcValue[rcMapping[7]] != UINT16_MAX) {
-            ui->aux3ChanLabel->setText(QString("%1").arg(rcAux3, 5, 'f', 2, QChar(' ')));
-        } else {
-            ui->aux3ChanLabel->setText(tr("---"));
-        }
+void QGCPX4VehicleConfig::updateView()
+{
+    if (dataModelChanged) {
+        dataModelChanged = false;
 
+        updateRcWidgetValues();
+        updateRcChanLabels();
     }
 }

src/ui/QGCPX4VehicleConfig.h

@@ -66,7 +66,7 @@ public slots:
     void setRCModeIndex(int newRcMode);
     /** Render the data updated */
     void updateView();
-    void updateRcWidgetValues();
+
     void handleRcParameterChange(QString parameterName, QVariant value);
 
 
@@ -205,6 +205,14 @@ protected slots:
     void checktimeOuts();
     /** Update checkbox status */
     void updateInvertedCheckboxes(int index);
+    /** Update the displayed values */
+    void updateRcWidgetValues();
+    /** update the channel labels */
+    void updateRcChanLabels();
+
+    QString labelForRcValue(float val) {
+        return  QString("%1").arg(val, 5, 'f', 2, QChar(' '));
+    }
 
 protected:
     bool doneLoadingConfig;
@@ -254,6 +262,7 @@ protected:
     QGCPX4AirframeConfig* px4AirframeConfig;
     DialogBare* firmwareDialog;
     QMessageBox msgBox;
+    QPushButton* skipActionButton;
 
 private:
     Ui::QGCPX4VehicleConfig *ui;

src/ui/QGCPX4VehicleConfig.ui

@@ -154,7 +154,7 @@ Config</string>
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>0</number>
+        <number>5</number>
        </property>
        <widget class="QWidget" name="firmwareTab">
         <layout class="QVBoxLayout" name="firmwareLayout">
@@ -746,6 +746,13 @@ Config</string>
               </item>
              </layout>
             </item>
+            <item>
+             <widget class="QPushButton" name="persistRcValuesButt">
+              <property name="text">
+               <string>Persist RC Mapping and Calibration</string>
+              </property>
+             </widget>
+            </item>
            </layout>
           </widget>
          </item>
@@ -874,8 +881,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>16</width>
+                   <height>16</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_4">
@@ -911,8 +918,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>16</width>
+                   <height>16</height>
                   </rect>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_5">
@@ -1003,8 +1010,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>98</width>
-                   <height>28</height>
+                   <width>597</width>
+                   <height>569</height>
                   </rect>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_7">

src/ui/QGCVehicleConfig.cc

@@ -1020,12 +1020,10 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
     // Normalized value
     float normalized;
 
-    if (val >= rcTrim[chan])
-    {
+    if (val >= rcTrim[chan]) {
         normalized = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
     }
-    else
-    {
+    else {
         normalized = -(rcTrim[chan] - val)/(rcTrim[chan] - rcMin[chan]);
     }
 
@@ -1034,22 +1032,18 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
     // Invert
     normalized = (rcRev[chan]) ? -1.0f*normalized : normalized;
 
-    if (chan == rcMapping[0])
-    {
+    if (chan == rcMapping[0]) {
         // ROLL
         rcRoll = normalized;
     }
-    if (chan == rcMapping[1])
-    {
+    if (chan == rcMapping[1]) {
         // PITCH
         rcPitch = normalized;
     }
-    if (chan == rcMapping[2])
-    {
+    if (chan == rcMapping[2]) {
         rcYaw = normalized;
     }
-    if (chan == rcMapping[3])
-    {
+    if (chan == rcMapping[3]) {
         // THROTTLE
         if (rcRev[chan]) {
             rcThrottle = 1.0f + normalized;
@@ -1059,23 +1053,19 @@ void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
 
         rcThrottle = qBound(0.0f, rcThrottle, 1.0f);
     }
-    if (chan == rcMapping[4])
-    {
+    if (chan == rcMapping[4]) {
         // MODE SWITCH
         rcMode = normalized;
     }
-    if (chan == rcMapping[5])
-    {
+    if (chan == rcMapping[5]) {
         // AUX1
         rcAux1 = normalized;
     }
-    if (chan == rcMapping[6])
-    {
+    if (chan == rcMapping[6]) {
         // AUX2
         rcAux2 = normalized;
     }
-    if (chan == rcMapping[7])
-    {
+    if (chan == rcMapping[7]) {
         // AUX3
         rcAux3 = normalized;
     }

src/ui/px4_configuration/QGCPX4AirframeConfig.cc

@@ -161,11 +161,8 @@ void QGCPX4AirframeConfig::applyAndReboot()
     //mav->getParamManager()->setParameter(components.first(), "SYS_AUTOSTART", (qint32)selectedId);
 
     // Send pending params
-    mav->getParamManager()->sendPendingParameters();
-    QGC::SLEEP::msleep(300);
-    // Store parameters
-    mav->getParamManager()->copyVolatileParamsToPersistent();
-    QGC::SLEEP::msleep(500);
+    mav->getParamManager()->sendPendingParameters(true);
+
     // Reboot
     mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
 }