*** empty log message ***

conf/conf.xml

@@ -27,8 +27,8 @@
     name="Thon1"
     ac_id="1"
     airframe="airframes/twinstar1.xml" 
-    radio="radios/cockpitMM.xml" 
-    flight_plan="flight_plans/muret_mini.xml"
+    radio="radios/mc3030.xml" 
+    flight_plan="flight_plans/muret4.xml"
   />
 
   <aircraft 

conf/control_panel.xml

@@ -97,7 +97,7 @@
       <program name="receive"/>     
       <program name="http server"/>     
       <program name="sim"><arg flag="-a" constant="Thon1"/></program>
-      <program name="cockpit"><arg flag="-render" constant="0"/></program>
+      <program name="cockpit"><arg flag="-render" constant="1"/></program>
       <program name="map 2d ml"/>
       <program name="messages"><arg flag="-c" constant="telemetry_ap:*"/><arg flag="-c" constant="ground:ground"/></program>
     </session>

sw/ground_segment/cockpit/Paparazzi/AutopilotPage.pm

@@ -1,4 +1,4 @@
-package Paparazzi::APPage;
+package Paparazzi::AutopilotPage;
 use Paparazzi::NDPage;
 @ISA = ("Paparazzi::NDPage");
 use strict;
@@ -36,14 +36,14 @@ sub build_gui {
   my ($self) = @_;
   $self->SUPER::build_gui();
   my $zinc = $self->get('-zinc');
-  my $dy = $self->get('-height')/10;
-  my $y=10;
-  my $x=10;
+  my ($y, $dy) = (10, $self->get('-height')/10);
+  my ($x, $dx) = (10, 100);
   foreach my $field (@fields) {
     $zinc->add('text', $self->{main_group},
 	       -position => [$x, $y+$self->{vmargin}],
 	       -color => 'white',
 	       -anchor => 'w',
+	       -font => $self->{big_font},
 	       -text => $field);
     $self->{'text_'.$field} = $zinc->add('text', $self->{main_group},
 					 -position => [$x + 100, $y+$self->{vmargin}],

sw/ground_segment/cockpit/Paparazzi/GpsPage.pm

@@ -15,7 +15,6 @@ sub populate {
   $self->SUPER::populate($args);
   $self->configspec(
 		    -svsinfo =>    [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, undef],
-		    -fix  =>    [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, undef],
 		   );
 }
 
@@ -33,7 +32,6 @@ sub svsinfo {
     my $sat_obj = $self->{satellites}->[$i];
     unless ($new_val->{svid}->[$i] == 0) {
       my $pos = $self->get_pos($new_val->{elev}->[$i], $new_val->{azim}->[$i]);
-#      print "in SatPage::sats $i $new_val->{svid}->[$i] $new_val->{elev}->[$i], $new_val->{azim}->[$i] @{$pos}\n";
       $zinc->coords($sat_obj->{-group}, $pos);
       $zinc->itemconfigure ($sat_obj->{-group}, -visible => 1 );
       $zinc->itemconfigure ($sat_obj->{-arc},
@@ -48,15 +46,6 @@ sub svsinfo {
   }
 }
 
-
-sub fix {
-  my ($self, $old_val, $new_val) = @_;
-#  print "in fix\n";
-  return unless defined $new_val and defined $self->{rg};
-#  print "in fix2\n";
-}
-
-
 sub get_pos {
   my ($self, $elev, $azim) = @_;
   my $sky_radius = $self->{sky_radius};
@@ -88,6 +77,7 @@ sub build_gui {
 	       [-$rad, -$rad, $rad, $rad],
 	       -visible => 1,
 	       -linecolor => 'white',
+	       -linewidth => 1,
 	       -filled => 0,
 	      );
     $zinc->add('text', $self->{sky_group},
@@ -95,10 +85,10 @@ sub build_gui {
 	       -text => sprintf("%.0f", $elev),
 	       -color => 'white',
 	       -anchor => 'c',
+	       -font => $self->{small_font},
 	      );
   }
   # azimut scale
-  my $tick_font = '-adobe-helvetica-bold-o-normal--24-240-100-100-p-182-iso8859-1';
   my $ticks = [["S", [0,  $sky_radius]], ["E", [ $sky_radius, 0]],
 	       ["N", [0, -$sky_radius]], ["W", [-$sky_radius, 0]]];
   foreach my $tick (@{$ticks}) {
@@ -107,7 +97,7 @@ sub build_gui {
 	       -position => $pos,
 	       -text => $txt,
 	       -color => 'white',
-	       -font => $tick_font,
+	       -font => $self->{big_font},
 	       -anchor => 'c',
 	      );
   }

sw/ground_segment/cockpit/Paparazzi/IRPage.pm

@@ -1,152 +0,0 @@
-package Paparazzi::IRPage;
-use Paparazzi::NDPage;
-@ISA = ("Paparazzi::NDPage");
-use strict;
-use Subject;
-use DigiKit::Button;
-
-use Paparazzi::HistoryView;
-
-
-use constant TITLE => "Infrared";
-use constant UPDATE_REPEAT => 2000;
-
-sub populate {
-  my ($self, $args) = @_;
-  $args->{-title} = TITLE;
-  $self->SUPER::populate($args);
-  $self->configspec(
-		    -wind => [S_NOINIT, S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, {}],
-		    -lls => [S_NOINIT, S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.0015],
-		   );
-}
-
-sub completeinit {
-  my $self = shift;
-  $self->{wind_running} = 0;
-  $self->SUPER::completeinit();
-#  $self->build_gui();
-  $self->configure('-pubevts' => 'WIND_COMMAND');
-  $self->{timer_id} = $self->get('-zinc')->repeat(UPDATE_REPEAT, [\&onTimer, $self]);
-}
-
-sub onTimer {
-  my ( $self) = @_;
-  $self->{history}->put_value(scalar $self->get('-lls'));
-}
-
-sub wind {
-  my ($self, $old_val, $new_val) = @_;
-  foreach my $field (keys %{$new_val}) {
-    $self->get('-zinc')->itemconfigure ($self->{'text_'.$field},
-					-text => sprintf("%s : %.4f", $field, $new_val->{$field})) if defined $self->{'text_'.$field};
-  }
-}
-
-sub lls {
-  my ($self, $old_val, $new_val) = @_;
-  return unless defined $new_val and defined $self->{history};
-#  $self->{history}->put_value($new_val);
-  $self->get('-zinc')->itemconfigure ($self->{'text_auto gain'},
-				      -text => sprintf("auto gain : %.5f", $new_val));
-}
-
-#sub put_lls {
-#  my ($self, $value) = @_;
-##  $self->{history}->put_value($value);
-#}
-
-sub build_gui {
-  my ($self) = @_;
-  $self->SUPER::build_gui();
-  my $zinc = $self->get('-zinc');
-  my $parent_grp = $self->get('-parent_grp');
-  my $main_group = $self->{main_group};
-  
-  my $fields = ["contrast", "gain","auto gain"];
-  my ($y, $dy) = ( 35, 20);
-  foreach my $field (@{$fields}) {
-    $self->{'text_'.$field} = $zinc->add('text', $main_group,
-					 -position => [20, $y],
-					 -color => 'white',
-					 -anchor => 'w',
-					 -text => "$field");
-    $y+=$dy;
-  }
-
-  my $nb_bars = 125;
-  $self->{history} = 
-    Paparazzi::HistoryView->new(-zinc => $zinc,
-				-width => 250,
-				-height => 50,
-				-origin => [20, 90],
-				-parent_grp => $self->{main_group},
-				-nb_bars => $nb_bars,
-				-initial_range => 0.003,
-			       );
-  $zinc->add('text', $main_group,
-	     -position => [20, 145],
-	     -color => 'white',
-	     -anchor => 'w',
-	     -text => sprintf("%d seconds", UPDATE_REPEAT * $nb_bars / 1000),
-	    );
-
-  $zinc->add('text', $main_group,
-	     -position => [10, 170],
-	     -color => 'white',
-	     -anchor => 'w',
-	     -text => "Wind");
-  
-  $fields = ['dir', 'speed','mean_aspeed', 'stddev'];
-  ($y, $dy) = ( 190, 20);
-  foreach my $field (@{$fields}) {
-    $self->{'text_'.$field} = $zinc->add('text', $main_group,
-					 -position => [20, $y],
-					 -color => 'white',
-					 -anchor => 'w',
-					 -text => "$field");
-    $y+=$dy;
-  }
-  
-  $self->{button_clear_wind} = DigiKit::Button->new(-widget => $zinc,
-						     -parentgroup => $main_group,
-						     -style => ['Aqualike',
-								-width => 60,
-								-height => 20,
-								-color => 'green',
-								-text => 'clear',
-								-trunc => 'right',
-							       ],
-						     -position => [10, 262],
-						    );
-  $self->{button_toggle_wind} = DigiKit::Button->new(-widget => $zinc,
-						     -parentgroup => $main_group,
-						     -style => ['Aqualike',
-								-width => 60,
-								-height => 20,
-								-color => 'green',
-								-text => 'start',
-								-trunc => 'left',
-							       ],
-						     -position => [70, 262],
-						    );
-  $self->{button_clear_wind}->configure(-releasecommand => sub {
-					  $self->notify('WIND_COMMAND', 'clear');
-					}
-				       );
-  $self->{button_toggle_wind}->configure(-releasecommand => sub {
-					   if ($self->{wind_running}) {
-					     $self->{button_toggle_wind}->value('start');
-					     $self->notify('WIND_COMMAND', 'stop');
-					     $self->{wind_running} = 0;
-					   }
-					   else {
-					     $self->{button_toggle_wind}->value('stop');
-					     $self->notify('WIND_COMMAND', 'start');
-					     $self->{wind_running} = 1;
-					   }
-					 }
-					);
-
-}
-

sw/ground_segment/cockpit/Paparazzi/InfraredPage.pm

@@ -0,0 +1,100 @@
+package Paparazzi::InfraredPage;
+use Paparazzi::NDPage;
+@ISA = ("Paparazzi::NDPage");
+use strict;
+use Subject;
+use DigiKit::Button;
+
+use Paparazzi::HistoryView;
+
+
+use constant TITLE => "Infrared";
+use constant UPDATE_REPEAT => 2000;
+my @fields = ('contrast_status', 'contrast_value', 'gps_hybrid_mode', 'gps_hybrid_factor');
+
+sub populate {
+  my ($self, $args) = @_;
+  $args->{-title} = TITLE;
+  $self->SUPER::populate($args);
+  $self->configspec(
+		    -lls => [S_NOINIT, S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.0015],
+		   );
+}
+
+sub completeinit {
+  my $self = shift;
+  $self->SUPER::completeinit();
+#  $self->build_gui();
+  $self->{timer_id} = $self->get('-zinc')->repeat(UPDATE_REPEAT, [\&onTimer, $self]);
+}
+
+sub set_aircraft {
+  my ($self, $prev_ac, $new_ac) = @_;
+  foreach my $field  (@fields) {
+    $prev_ac->detach($self, $field, [\&update_field]) if ($prev_ac);
+    $new_ac->attach($self, $field, [\&update_field]) if ($new_ac);
+  }
+}
+
+sub update_field {
+  my ($self, $aircraft, $field, $new_value) = @_;
+  my $text = $new_value;
+  $self->get('-zinc')->itemconfigure($self->{'value_'.$field}, -text => $text);
+}
+
+sub onTimer {
+  my ( $self) = @_;
+  $self->{history}->put_value(scalar $self->get('-lls'));
+}
+
+sub lls {
+  my ($self, $old_val, $new_val) = @_;
+  return unless defined $new_val and defined $self->{history};
+  $self->get('-zinc')->itemconfigure ($self->{'text_auto gain'},
+				      -text => sprintf("auto gain : %.5f", $new_val));
+}
+
+sub build_gui {
+  my ($self) = @_;
+  $self->SUPER::build_gui();
+  my $zinc = $self->get('-zinc');
+  my $parent_grp = $self->get('-parent_grp');
+  my $main_group = $self->{main_group};
+  
+  my ($y, $dy) = ( 35, 20);
+  my ($x, $dx) = (10, 150);
+  foreach my $field (@fields) {
+    $self->{'label_'.$field} = $zinc->add('text', $main_group,
+					  -position => [$x, $y],
+					  -color => 'white',
+					  -anchor => 'w',
+					  -text => "$field");
+    $self->{'value_'.$field} = $zinc->add('text', $main_group,
+					  -position => [$x+$dx, $y],
+					  -color => 'white',
+					  -anchor => 'w',
+					  -text => "N/A");
+    $y+=$dy;
+  }
+
+  my $nb_bars = 125;
+  $dy = 50;
+  $self->{history} = 
+    Paparazzi::HistoryView->new(-zinc => $zinc,
+				-width => 250,
+				-height => $dy,
+				-origin => [20, $y],
+				-parent_grp => $self->{main_group},
+				-nb_bars => $nb_bars,
+				-initial_range => 0.003,
+			       );
+  $y += $dy+10;
+  $zinc->add('text', $main_group,
+	     -position => [20, $y ],
+	     -color => 'white',
+	     -anchor => 'w',
+	     -text => sprintf("%d seconds", UPDATE_REPEAT * $nb_bars / 1000),
+	     -font => $self->{small_font},
+	    );
+}
+

sw/ground_segment/cockpit/Paparazzi/ND.pm

@@ -9,8 +9,8 @@ use Tk;
 use Tk::Zinc;
 use Paparazzi::SatPage;
 use Paparazzi::EnginePage;
-use Paparazzi::APPage;
-use Paparazzi::IRPage;
+use Paparazzi::AutopilotPage;
+use Paparazzi::InfraredPage;
 
 sub populate {
   my ($self, $args) = @_;
@@ -52,8 +52,9 @@ sub selected_ac {
     $previous_ac->detach($self, $attr, [\&foo_cbk, $attr]) if ($previous_ac);
     $new_ac->attach($self, $attr, [\&foo_cbk, $attr]);
   }
-  $self->{AP}->set_aircraft($previous_ac, $new_ac);
+  $self->{Autopilot}->set_aircraft($previous_ac, $new_ac);
   $self->{Settings}->set_aircraft($previous_ac, $new_ac);
+  $self->{Infrared}->set_aircraft($previous_ac, $new_ac);
 }
 
 sub foo_cbk {
@@ -79,7 +80,7 @@ sub build_gui() {
   my $real_width = $page_width - 2*$margin;
   my ($page_per_row, $row, $col) = (2, 0, 0);
 
-  my @pages = ('Gps', 'AP', 'Settings', 'Engine', 'IR');
+  my @pages = ('Infrared', 'Gps', 'Autopilot', 'Settings', 'Engine');
   foreach my $page (@pages) {
     $self->{$page} = $self->component('Paparazzi::'.$page.'Page',
 				      -zinc => $zinc,
@@ -96,26 +97,6 @@ sub build_gui() {
     $col++;
     unless ($col lt $page_per_row) { $col=0; $row++ };
   }
-
-
-
-
-#  my $engine_h = { -nb_engine => 2,
-#		   -engine    => [{throttle => 50, -rpm => 3500, -temp => 39},
-#				  {throttle => 50, -rpm => 3400, -temp => 37}],
-#		   -bat       => 11.5,
-#		   -energy    => 25.2
-#		 };
-  
-#  my $ap_h = {
-#	      -mode => 1,
-#              -h_mode => 2,
-#              -v_mode => 0,
-#              -target_climb => 1.,
-#              -target_alt => 200.,
-#              -target_heading => 36.,
-#	     };
-#  $self->{AP}->configure( -ap_status => $ap_h);
 }
 
 1;

sw/ground_segment/cockpit/Paparazzi/NDPage.pm

@@ -24,6 +24,7 @@ sub populate {
 sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit;
+  $self->{big_font} = "bleriot-radar-m16c";
   $self->{normal_font} = "bleriot-radar-m12c";
   $self->{small_font} = "bleriot-radar-m8c";
   $self->build_gui();

sw/ground_segment/cockpit/Paparazzi/PFD_Panel.pm

@@ -27,7 +27,7 @@ sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit();
 
-  $self->{pages} = ['Gps', 'AP', 'Settings', 'Engine', 'IR'];
+  $self->{pages} = ['Infrared', 'Gps', 'Autopilot', 'Settings', 'Engine'];
   $self->build_gui();
   $self->configure('-pubevts' => 'CLICKED');
 }

sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm

@@ -7,18 +7,21 @@ use Data::Dumper;
 
 use constant TITLE => "Settings";
 
-my @fields = ('if_mode', 'ap_mode');
+my @fields = ('if_mode', 'if_value1', 'if_value2', 'ap_mode');
+my @ap_modes = ('AUTO1', 'AUTO2');
+my @if_modes = ('UP', 'DOWN');
+my @sliders = ('gain_1', 'gain_2');
 
 sub populate {
   my ($self, $args) = @_;
   $args->{-title} = TITLE;
   $self->SUPER::populate($args);
   $self->configspec(
+		    ap_mode       => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, 'MANUAL'],
+		    if_mode       => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, 'OFF'],
 		   );
 }
 
-
-
 sub set_aircraft {
   my ($self, $prev_ac, $new_ac) = @_;
   foreach my $field  (@fields) {
@@ -26,15 +29,15 @@ sub set_aircraft {
     $new_ac->attach($self, $field, [\&update_field]) if ($new_ac);
   }
   my $fligh_plan = $new_ac->get('flight_plan');
-  #  use Data::Dumper;
-  #  print "#####".Dumper(scalar $fligh_plan->get('-rc_control'));
-  my $zinc = $self->get('-zinc');
   my $rc_controls = $fligh_plan->get('-rc_control');
-  foreach my $mode (keys %{$rc_controls}) {
-    foreach my $dir (keys %{$rc_controls->{$mode}}) {
-      foreach my $slider (keys %{$rc_controls->{$mode}->{$dir}}) {
+  my $zinc = $self->get('-zinc');
+  foreach my $mode (@ap_modes) {
+    foreach my $dir (@if_modes) {
+      foreach my $slider (@sliders) {
 	my $label = $self->{'label_'.$mode."_".$dir."_".$slider};
-	$zinc->itemconfigure($label, -text => $rc_controls->{$mode}->{$dir}->{$slider}->[0]);
+	my $text = defined $rc_controls->{$mode}->{$dir}->{$slider} ?
+	  $rc_controls->{$mode}->{$dir}->{$slider}->[0] : 'N/A';
+	$zinc->itemconfigure($label, -text => $text);
       }
     }
   }
@@ -42,24 +45,32 @@ sub set_aircraft {
 
 sub update_field {
   my ($self, $aircraft, $field, $new_value) = @_;
-  if ($field eq 'ap_mode' or $field eq 'if_mode') {
-    $self->get('-zinc')->itemconfigure($self->{'text_'.$field}, -text => $new_value);
-  }
-#  else {
   my $zinc = $self->get('-zinc');
   my $ap_mode = $aircraft->get('ap_mode');
   my $if_mode = $aircraft->get('if_mode');
-  foreach my $slider ('gain_1', 'gain_2') {
-    my $label = $self->{'label_'.$ap_mode."_".$if_mode."_".$slider};
-    $zinc->itemconfigure($label, -color => 'green');
-    print "$ap_mode $if_mode $slider $label\n";
+  if ($field eq 'ap_mode' or $field eq 'if_mode') {
+    $zinc->itemconfigure($self->{'text_'.$field}, -text => $new_value);
+    my $old_ap_mode = $self->get('ap_mode');
+    my $old_if_mode = $self->get('if_mode');
+    foreach my $slider (@sliders) {
+      my $label = $self->{'label_'.$old_ap_mode."_".$old_if_mode."_".$slider};
+      $zinc->itemconfigure($label, -color => 'white') if defined $label;
+      $label = $self->{'value_'.$old_ap_mode."_".$old_if_mode."_".$slider};
+      $zinc->itemconfigure($label, -color => 'white') if defined $label;
+      $label = $self->{'label_'.$ap_mode."_".$if_mode."_".$slider};
+      $zinc->itemconfigure($label, -color => 'green') if defined $label;
+      $label = $self->{'value_'.$ap_mode."_".$if_mode."_".$slider};
+      $zinc->itemconfigure($label, -color => 'green') if defined $label;
+      $self->configure( 'ap_mode' => $ap_mode, 'if_mode' => $if_mode);
+      #      print "$ap_mode $if_mode $slider $label\n";
+    }
+  }
+  else {
+    $field =~ /if_value(\S)/;
+    my $slider = "gain_".$1;
+    my $label = $self->{'value_'.$ap_mode."_".$if_mode."_".$slider};
+    $zinc->itemconfigure($label, -text => $new_value) if defined $label;
   }
- #    $field =~ /if_value(\S)/;
- #   my $slider = "GAIN_".$1;
- #   my $label = $self->{'label_'.$ap_mode."_".$if_mode."_".$slider};
- #   print "$ap_mode $if_mode $slider $label\n";
-
-#  }
 }
 
 sub build_gui {
@@ -69,23 +80,29 @@ sub build_gui {
   my $dy = $self->get('-height')/10;
   my $y=10;
   my $x=10;
-  foreach my $field (@fields) {
+  my $dx = 70;
+  foreach my $field ('ap_mode', 'if_mode') {
     $zinc->add('text', $self->{main_group},
 	       -position => [$x, $y+$self->{vmargin}],
 	       -color => 'white',
 	       -anchor => 'w',
-	       -text => $field);
+	       -text => $field,
+	       -font => $self->{normal_font},
+	      );
+    $x += $dx;
     $self->{'text_'.$field} = $zinc->add('text', $self->{main_group},
-					 -position => [$x + 100, $y+$self->{vmargin}],
+					 -position => [$x, $y+$self->{vmargin}],
 					 -color => 'white',
 					 -anchor => 'w',
 					 -text => 'NA');
-    $y+=$dy;
+    $x += $dx;
   }
 
-  my @ap_modes = ('AUTO1', 'AUTO2');
-  my @if_modes = ('UP', 'DOWN');
-  my @sliders = ('gain_1', 'gain_2');
+  $x = 10;
+  $y+=$dy;
+
+  $dx = 100;
+  $dy = 35;
   foreach my $ap_mode (@ap_modes) {
     $x = 10;
     $zinc->add('text', $self->{main_group},
@@ -94,7 +111,7 @@ sub build_gui {
 	       -anchor => 'w',
 	       -text => $ap_mode);
     foreach my $slider (@sliders) {
-      $x += 100;
+      $x += $dx;
       $zinc->add('text', $self->{main_group},
 		 -position => [$x, $y+$self->{vmargin}],
 		 -color => 'white',
@@ -103,25 +120,34 @@ sub build_gui {
     }
     foreach my $if_mode (@if_modes) {
       $x = 10;
-      $y += 35;
+      $y += $dy;
       $zinc->add('text', $self->{main_group},
 		 -position => [$x, $y+$self->{vmargin}],
 		 -color => 'white',
 		 -anchor => 'w',
 		 -text => $if_mode);
       foreach my $slider (@sliders) {
-	$x += 100;
+	$x += $dx;
 	$self->{'label_'.$ap_mode."_".$if_mode."_".$slider} =
 	  $zinc->add('text', $self->{main_group},
-		     -position => [$x, $y+$self->{vmargin}],
+		     -position => [$x, $y+$self->{vmargin} - 7],
 		     -color => 'white',
 		     -anchor => 'w',
 		     -text => "N/A",
 		     -font => $self->{small_font},
 		    );
+	$self->{'value_'.$ap_mode."_".$if_mode."_".$slider} =
+	  $zinc->add('text', $self->{main_group},
+		     -position => [$x, $y+$self->{vmargin} + 7],
+		     -color => 'white',
+		     -anchor => 'w',
+		     -text => "N/A",
+		     -font => $self->{small_font},
+		    );
+	
       }
     }
-    $y += 35;
+    $y += $dy;
   }
 }
 

sw/ground_segment/cockpit/Paparazzi/Strip.pm

@@ -318,7 +318,7 @@ sub set_item {
 #  print "in Strip::set_item $item_name $string $color ($self->{prefix})\n";
   my $zinc = $self->get('-zinc');
   my $item = $zinc->find('withtag', $self->{prefix}.$item_name."_value");
-  print "in Strip::set_item $item_name $string color $color\n";
+#  print "in Strip::set_item $item_name $string color $color\n";
   $zinc->itemconfigure($item, -text => $string, -color  => $color);
 }
 
@@ -371,6 +371,17 @@ sub attach_to_aircraft {
 }
 
 
+sub get_color {
+  my ($self, $mode, $value) = @_;
+  if (defined $self->{new_modes}->{$mode}->{$value}) {
+    return $self->{new_modes}->{$mode}->{$value};
+  }
+  else {
+    return 'black';
+  }
+}
+
+
 sub aircraft_config_changed {
   my ($self, $aircraft, $event, $new_value) = @_;
 #  print "in strip aircraft_config_changed $event $new_value\n";
@@ -382,8 +393,7 @@ sub aircraft_config_changed {
     $self->get('-zinc')->itemconfigure($self->{ident}, -text => scalar $new_value->get('-name')) if defined $new_value;
   }
   elsif ($event eq 'rc_status' or $event eq 'rc_mode' or $event eq 'contrast_status' or $event eq 'ap_mode' or $event eq 'gps_mode') {
-    my $color = $self->{new_modes}->{$event}->{$new_value};
-    $self->set_item($event, $new_value, $color);
+    $self->set_item($event, $new_value, $self->get_color($event, $new_value));
   }
   elsif ($event eq 'flight_time') {
     $self->set_item("flight_time",$self->string_of_time($new_value), $self->{options}->{value_color});

sw/lib/perl/Paparazzi/Flightplan.pm

@@ -147,7 +147,7 @@ sub parse_rc_control {
 				       $s->getAttribute('range'),
 				       $s->getAttribute('type'));
       $rc =~ /(gain_.+)_(\S+)/;
-      my ($slider, $direction) = ($1, $2);
+      my ($slider, $direction) = ($1, uc $2);
       $rc_control->{$mode_name}->{$direction}->{$slider} = [$var, $range, $type];
     }
   }