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QG4/src/ui/QGCVehicleConfig.cc

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// On Windows (for VS2010) stdint.h contains the limits normally contained in limits.h
// It also needs the __STDC_LIMIT_MACROS macro defined in order to include them (done
// in qgroundcontrol.pri).
#ifdef WIN32
#include <stdint.h>
#else
#include <limits.h>
#endif
#include <QTimer>
#include "QGCVehicleConfig.h"
#include "UASManager.h"
#include "QGC.h"
#include "QGCToolWidget.h"
#include "ui_QGCVehicleConfig.h"
QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
QWidget(parent),
mav(NULL),
chanCount(0),
rcRoll(0.0f),
rcPitch(0.0f),
rcYaw(0.0f),
rcThrottle(0.0f),
rcMode(0.0f),
rcAux1(0.0f),
rcAux2(0.0f),
rcAux3(0.0f),
changed(true),
rc_mode(RC_MODE_2),
calibrationEnabled(false),
ui(new Ui::QGCVehicleConfig)
{
setObjectName("QGC_VEHICLECONFIG");
ui->setupUi(this);
requestCalibrationRC();
if (mav) mav->requestParameter(0, "RC_TYPE");
ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);
ui->rcCalibrationButton->setCheckable(true);
connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
connect(ui->storeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));
/* Connect RC mapping assignments */
connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(int)));
// Connect RC reverse assignments
connect(ui->invertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setRollInverted(bool)));
connect(ui->invertCheckBox_2, SIGNAL(clicked(bool)), this, SLOT(setPitchInverted(bool)));
connect(ui->invertCheckBox_3, SIGNAL(clicked(bool)), this, SLOT(setYawInverted(bool)));
connect(ui->invertCheckBox_4, SIGNAL(clicked(bool)), this, SLOT(setThrottleInverted(bool)));
connect(ui->invertCheckBox_5, SIGNAL(clicked(bool)), this, SLOT(setModeInverted(bool)));
connect(ui->invertCheckBox_6, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
connect(ui->invertCheckBox_7, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
connect(ui->invertCheckBox_8, SIGNAL(clicked(bool)), this, SLOT(setAux3Inverted(bool)));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
setActiveUAS(UASManager::instance()->getActiveUAS());
for (unsigned int i = 0; i < chanMax; i++)
{
rcValue[i] = UINT16_MAX;
rcMapping[i] = i;
}
updateTimer.setInterval(150);
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
updateTimer.start();
}
QGCVehicleConfig::~QGCVehicleConfig()
{
delete ui;
}
void QGCVehicleConfig::setRCModeIndex(int newRcMode)
{
if (newRcMode > 0 && newRcMode < 5)
{
rc_mode = (enum RC_MODE) (newRcMode+1);
changed = true;
}
}
void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
{
if (enabled)
{
startCalibrationRC();
}
else
{
stopCalibrationRC();
}
}
void QGCVehicleConfig::setTrimPositions()
{
// 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
// 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
}
// Set trim to max if stick is close to max
if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100)
{
rcTrim[rcMapping[3]] = rcMax[rcMapping[3]]; // throttle
}
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
}
void QGCVehicleConfig::detectChannelInversion()
{
}
void QGCVehicleConfig::startCalibrationRC()
{
ui->rcTypeComboBox->setEnabled(false);
ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
resetCalibrationRC();
calibrationEnabled = true;
}
void QGCVehicleConfig::stopCalibrationRC()
{
calibrationEnabled = false;
ui->rcTypeComboBox->setEnabled(true);
ui->rcCalibrationButton->setText(tr("Start RC Calibration"));
}
void QGCVehicleConfig::setActiveUAS(UASInterface* active)
{
// Do nothing if system is the same or NULL
if ((active == NULL) || mav == active) return;
if (mav)
{
// Disconnect old system
disconnect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
SLOT(remoteControlChannelRawChanged(int,float)));
disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
SLOT(parameterChanged(int,int,QString,QVariant)));
foreach (QGCToolWidget* tool, toolWidgets)
{
delete tool;
}
toolWidgets.clear();
}
// Reset current state
resetCalibrationRC();
chanCount = 0;
// Connect new system
mav = active;
connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
SLOT(remoteControlChannelRawChanged(int,float)));
connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
SLOT(parameterChanged(int,int,QString,QVariant)));
mav->requestParameters();
QString defaultsDir = qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower() + "/widgets/";
QGCToolWidget* tool;
// Load calibration
tool = new QGCToolWidget("", this);
if (tool->loadSettings(defaultsDir + "px4_calibration.qgw", false))
{
toolWidgets.append(tool);
ui->sensorLayout->addWidget(tool);
} else {
delete tool;
}
// Load multirotor attitude pid
tool = new QGCToolWidget("", this);
if (tool->loadSettings(defaultsDir + "px4_mc_attitude_pid_params.qgw", false))
{
toolWidgets.append(tool);
ui->multiRotorAttitudeLayout->addWidget(tool);
} else {
delete tool;
}
// Load multirotor position pid
tool = new QGCToolWidget("", this);
if (tool->loadSettings(defaultsDir + "px4_mc_position_pid_params.qgw", false))
{
toolWidgets.append(tool);
ui->multiRotorPositionLayout->addWidget(tool);
} else {
delete tool;
}
// Load fixed wing attitude pid
tool = new QGCToolWidget("", this);
if (tool->loadSettings(defaultsDir + "px4_fw_attitude_pid_params.qgw", false))
{
toolWidgets.append(tool);
ui->fixedWingAttitudeLayout->addWidget(tool);
} else {
delete tool;
}
// Load fixed wing position pid
tool = new QGCToolWidget("", this);
if (tool->loadSettings(defaultsDir + "px4_fw_position_pid_params.qgw", false))
{
toolWidgets.append(tool);
ui->fixedWingPositionLayout->addWidget(tool);
} else {
delete tool;
}
updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
}
void QGCVehicleConfig::resetCalibrationRC()
{
for (unsigned int i = 0; i < chanMax; ++i)
{
rcMin[i] = 1200;
rcMax[i] = 1800;
}
}
/**
* Sends the RC calibration to the vehicle and stores it in EEPROM
*/
void QGCVehicleConfig::writeCalibrationRC()
{
if (!mav) return;
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Do not write the RC type, as these values depend on this
// active onboard parameter
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);
}
// 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);
}
void QGCVehicleConfig::requestCalibrationRC()
{
if (!mav) return;
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Do not request the RC type, as these values depend on this
// active onboard parameter
for (unsigned int i = 0; i < chanMax; ++i)
{
mav->requestParameter(0, minTpl.arg(i+1));
QGC::SLEEP::usleep(5000);
mav->requestParameter(0, trimTpl.arg(i+1));
QGC::SLEEP::usleep(5000);
mav->requestParameter(0, maxTpl.arg(i+1));
QGC::SLEEP::usleep(5000);
mav->requestParameter(0, revTpl.arg(i+1));
QGC::SLEEP::usleep(5000);
}
}
void QGCVehicleConfig::writeParameters()
{
updateStatus(tr("Writing all onboard parameters."));
writeCalibrationRC();
mav->writeParametersToStorage();
}
void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
{
// Check if index and values are sane
if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax || val < 500 || val > 2500)
return;
if (chan + 1 > (int)chanCount) {
chanCount = chan+1;
}
// Update calibration data
if (calibrationEnabled) {
if (val < rcMin[chan])
{
rcMin[chan] = val;
}
if (val > rcMax[chan])
{
rcMax[chan] = val;
}
}
// Raw value
rcValue[chan] = val;
// Normalized value
float normalized;
if (val >= rcTrim[chan])
{
normalized = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
}
else
{
normalized = -(rcTrim[chan] - val)/(rcTrim[chan] - rcMin[chan]);
}
// Bound
normalized = qBound(-1.0f, normalized, 1.0f);
// Invert
normalized = (rcRev[chan]) ? -1.0f*normalized : normalized;
if (chan == rcMapping[0])
{
// ROLL
rcRoll = normalized;
}
if (chan == rcMapping[1])
{
// PITCH
rcPitch = normalized;
}
if (chan == rcMapping[2])
{
rcYaw = normalized;
}
if (chan == rcMapping[3])
{
// THROTTLE
if (rcRev[chan]) {
rcThrottle = 1.0f + normalized;
} else {
rcThrottle = normalized;
}
rcThrottle = qBound(0.0f, rcThrottle, 1.0f);
}
if (chan == rcMapping[4])
{
// MODE SWITCH
rcMode = normalized;
}
if (chan == rcMapping[5])
{
// AUX1
rcAux1 = normalized;
}
if (chan == rcMapping[6])
{
// AUX2
rcAux2 = normalized;
}
if (chan == rcMapping[7])
{
// AUX3
rcAux3 = normalized;
}
changed = true;
//qDebug() << "RC CHAN:" << chan << "PPM:" << val << "NORMALIZED:" << normalized;
}
void QGCVehicleConfig::updateInvertedCheckboxes(int index)
{
unsigned int mapindex = rcMapping[index];
switch (mapindex)
{
case 0:
ui->invertCheckBox->setChecked(rcRev[index]);
break;
case 1:
ui->invertCheckBox_2->setChecked(rcRev[index]);
break;
case 2:
ui->invertCheckBox_3->setChecked(rcRev[index]);
break;
case 3:
ui->invertCheckBox_4->setChecked(rcRev[index]);
break;
case 4:
ui->invertCheckBox_5->setChecked(rcRev[index]);
break;
case 5:
ui->invertCheckBox_6->setChecked(rcRev[index]);
break;
case 6:
ui->invertCheckBox_7->setChecked(rcRev[index]);
break;
case 7:
ui->invertCheckBox_8->setChecked(rcRev[index]);
break;
}
}
void QGCVehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
Q_UNUSED(uas);
Q_UNUSED(component);
// Channel calibration values
QRegExp minTpl("RC?_MIN");
minTpl.setPatternSyntax(QRegExp::Wildcard);
QRegExp maxTpl("RC?_MAX");
maxTpl.setPatternSyntax(QRegExp::Wildcard);
QRegExp trimTpl("RC?_TRIM");
trimTpl.setPatternSyntax(QRegExp::Wildcard);
QRegExp revTpl("RC?_REV");
revTpl.setPatternSyntax(QRegExp::Wildcard);
// Do not write the RC type, as these values depend on this
// active onboard parameter
if (minTpl.exactMatch(parameterName)) {
bool ok;
unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
//qDebug() << "PARAM:" << parameterName << "index:" << index;
if (ok && (index >= 0) && (index < chanMax))
{
rcMin[index] = value.toInt();
}
}
if (maxTpl.exactMatch(parameterName)) {
bool ok;
unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
if (ok && (index >= 0) && (index < chanMax))
{
rcMax[index] = value.toInt();
}
}
if (trimTpl.exactMatch(parameterName)) {
bool ok;
unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
if (ok && (index >= 0) && (index < chanMax))
{
rcTrim[index] = value.toInt();
}
}
if (revTpl.exactMatch(parameterName)) {
bool ok;
unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
if (ok && (index >= 0) && (index < chanMax))
{
rcRev[index] = (value.toInt() == -1) ? true : false;
updateInvertedCheckboxes(index);
}
}
// mav->setParameter(0, trimTpl.arg(i), rcTrim[i]);
// mav->setParameter(0, maxTpl.arg(i), rcMax[i]);
// mav->setParameter(0, revTpl.arg(i), (rcRev[i]) ? -1 : 1);
// }
if (rcTypeUpdateRequested > 0 && parameterName == QString("RC_TYPE"))
{
rcTypeUpdateRequested = 0;
updateStatus(tr("Received RC type update, setting parameters based on model."));
rcType = value.toInt();
// Request all other parameters as well
requestCalibrationRC();
}
// Order is: roll, pitch, yaw, throttle, mode sw, aux 1-3
if (parameterName.contains("RC_MAP_ROLL")) {
rcMapping[0] = value.toInt() - 1;
ui->rollSpinBox->setValue(rcMapping[0]+1);
}
if (parameterName.contains("RC_MAP_PITCH")) {
rcMapping[1] = value.toInt() - 1;
ui->pitchSpinBox->setValue(rcMapping[1]+1);
}
if (parameterName.contains("RC_MAP_YAW")) {
rcMapping[2] = value.toInt() - 1;
ui->yawSpinBox->setValue(rcMapping[2]+1);
}
if (parameterName.contains("RC_MAP_THROTTLE")) {
rcMapping[3] = value.toInt() - 1;
ui->throttleSpinBox->setValue(rcMapping[3]+1);
}
if (parameterName.contains("RC_MAP_MODE_SW")) {
rcMapping[4] = value.toInt() - 1;
ui->modeSpinBox->setValue(rcMapping[4]+1);
}
if (parameterName.contains("RC_MAP_AUX1")) {
rcMapping[5] = value.toInt() - 1;
ui->aux1SpinBox->setValue(rcMapping[5]+1);
}
if (parameterName.contains("RC_MAP_AUX2")) {
rcMapping[6] = value.toInt() - 1;
ui->aux2SpinBox->setValue(rcMapping[6]+1);
}
if (parameterName.contains("RC_MAP_AUX3")) {
rcMapping[7] = value.toInt() - 1;
ui->aux3SpinBox->setValue(rcMapping[7]+1);
}
// Scaling
if (parameterName.contains("RC_SCALE_ROLL")) {
rcScaling[0] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_PITCH")) {
rcScaling[1] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_YAW")) {
rcScaling[2] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_THROTTLE")) {
rcScaling[3] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_MODE_SW")) {
rcScaling[4] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_AUX1")) {
rcScaling[5] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_AUX2")) {
rcScaling[6] = value.toFloat();
}
if (parameterName.contains("RC_SCALE_AUX3")) {
rcScaling[7] = value.toFloat();
}
}
void QGCVehicleConfig::updateStatus(const QString& str)
{
ui->statusLabel->setText(str);
ui->statusLabel->setStyleSheet("");
}
void QGCVehicleConfig::updateError(const QString& str)
{
ui->statusLabel->setText(str);
ui->statusLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name()));
}
void QGCVehicleConfig::setRCType(int type)
{
if (!mav) return;
// XXX TODO Add handling of RC_TYPE vs non-RC_TYPE here
mav->setParameter(0, "RC_TYPE", type);
rcTypeUpdateRequested = QGC::groundTimeMilliseconds();
QTimer::singleShot(rcTypeTimeout+100, this, SLOT(checktimeOuts()));
}
void QGCVehicleConfig::checktimeOuts()
{
if (rcTypeUpdateRequested > 0)
{
if (QGC::groundTimeMilliseconds() - rcTypeUpdateRequested > rcTypeTimeout)
{
updateError(tr("Setting remote control timed out - is the system connected?"));
}
}
}
void QGCVehicleConfig::updateView()
{
if (changed)
{
if (rc_mode == RC_MODE_1)
{
ui->rollSlider->setValue(rcRoll * 50 + 50);
ui->pitchSlider->setValue(rcThrottle * 100);
ui->yawSlider->setValue(rcYaw * 50 + 50);
ui->throttleSlider->setValue(rcPitch * 50 + 50);
}
else if (rc_mode == RC_MODE_2)
{
ui->rollSlider->setValue(rcRoll * 50 + 50);
ui->pitchSlider->setValue(rcPitch * 50 + 50);
ui->yawSlider->setValue(rcYaw * 50 + 50);
ui->throttleSlider->setValue(rcThrottle * 100);
}
else if (rc_mode == RC_MODE_3)
{
ui->rollSlider->setValue(rcYaw * 50 + 50);
ui->pitchSlider->setValue(rcThrottle * 100);
ui->yawSlider->setValue(rcRoll * 50 + 50);
ui->throttleSlider->setValue(rcPitch * 50 + 50);
}
else if (rc_mode == RC_MODE_4)
{
ui->rollSlider->setValue(rcYaw * 50 + 50);
ui->pitchSlider->setValue(rcPitch * 50 + 50);
ui->yawSlider->setValue(rcRoll * 50 + 50);
ui->throttleSlider->setValue(rcThrottle * 100);
}
ui->chanLabel->setText(QString("%1/%2").arg(rcValue[rcMapping[0]]).arg(rcRoll, 5, 'f', 2, QChar(' ')));
ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[rcMapping[1]]).arg(rcPitch, 5, 'f', 2, QChar(' ')));
ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[rcMapping[2]]).arg(rcYaw, 5, 'f', 2, QChar(' ')));
ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[rcMapping[3]]).arg(rcThrottle, 5, 'f', 2, QChar(' ')));
ui->modeSwitchSlider->setValue(rcMode * 50 + 50);
ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[rcMapping[4]]).arg(rcMode, 5, 'f', 2, QChar(' ')));
if (rcValue[rcMapping[5]] != UINT16_MAX) {
ui->aux1Slider->setValue(rcAux1 * 50 + 50);
ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[rcMapping[5]]).arg(rcAux1, 5, 'f', 2, QChar(' ')));
} else {
ui->chanLabel_6->setText(tr("---"));
}
if (rcValue[rcMapping[6]] != UINT16_MAX) {
ui->aux2Slider->setValue(rcAux2 * 50 + 50);
ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[rcMapping[6]]).arg(rcAux2, 5, 'f', 2, QChar(' ')));
} else {
ui->chanLabel_7->setText(tr("---"));
}
if (rcValue[rcMapping[7]] != UINT16_MAX) {
ui->aux3Slider->setValue(rcAux3 * 50 + 50);
ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[rcMapping[7]]).arg(rcAux3, 5, 'f', 2, QChar(' ')));
} else {
ui->chanLabel_8->setText(tr("---"));
}
changed = false;
}
}