diff --git a/groundStation/gui/MicroCART/MicroCART.files b/groundStation/gui/MicroCART/MicroCART.files
index b4d086dd0b798f2b1e94602a836172f8e25a851e..0ce8141d43852df971238ce1de596c4f643e6bfb 100644
--- a/groundStation/gui/MicroCART/MicroCART.files
+++ b/groundStation/gui/MicroCART/MicroCART.files
@@ -5,6 +5,8 @@ controlworker.cpp
controlworker.h
crazyflieworker.cpp
crazyflieworker.h
+gamepadmonitor.cpp
+gamepadmonitor.h
gridlines.gif
main.cpp
mainwindow.cpp
diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index 3548b01aab3ffb98b73ad450bf45eb0744e4683c..d38edbeee72bb9f4e95a72c0dd93931435e438cb 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -4,7 +4,7 @@
#
#-------------------------------------------------
-QT += core gui
+QT += core gui gamepad
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets printsupport
@@ -23,7 +23,8 @@ SOURCES += main.cpp\
qFlightInstruments.cpp\
qcustomplot.cpp\
crazyflieworker.cpp\
- setpoint.cpp
+ setpoint.cpp\
+ gamepadmonitor.cpp
HEADERS += mainwindow.h \
trackerworker.h \
@@ -34,7 +35,8 @@ HEADERS += mainwindow.h \
qFlightInstruments.h\
qcustomplot.h\
crazyflieworker.h\
- setpoint.h
+ setpoint.h\
+ gamepadmonitor.h
FORMS += mainwindow.ui
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index 17629e40b7ab43ce6a6ec45980ac66e0a7f3605b..8894c2c63b265fc749ec2f122a7d885abef96f52 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -59,12 +59,12 @@ void CrazyflieWorker::setCurrAttSetpoint(float roll, float pitch, float yaw, flo
currAttitudeSetpoint.throttle = throttle;
}
-void CrazyflieWorker::setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttleRate)
+void CrazyflieWorker::setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttle)
{
currAttitudeRateSetpoint.roll = rollRate;
currAttitudeRateSetpoint.pitch = pitchRate;
currAttitudeRateSetpoint.yaw = yawRate;
- currAttitudeRateSetpoint.throttle = throttleRate;
+ currAttitudeRateSetpoint.throttle = throttle;
}
@@ -72,7 +72,7 @@ void CrazyflieWorker::sendAttRateSetpoint()
{
struct frontend_override_data data;
data.enable = 2; //attitude rate
- data.time = 0.2; //hold setpoint for 0.2 seconds TODO
+ data.time = 0.2; //hold setpoint for 0.2 seconds TODO check if this amount of time is good?
data.throttle = currAttitudeRateSetpoint.throttle;
data.roll = currAttitudeRateSetpoint.roll;
data.pitch = currAttitudeRateSetpoint.pitch;
@@ -269,4 +269,4 @@ void CrazyflieWorker::getGroupEntries(int box, QString gName) {
entryList.append(cur);
}
emit(gotGroupEntries(box, entryList));
-}
\ No newline at end of file
+}
diff --git a/groundStation/gui/MicroCART/gamepadmonitor.cpp b/groundStation/gui/MicroCART/gamepadmonitor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..09f936fc56062f8b9f92e4c24f58974d87256312
--- /dev/null
+++ b/groundStation/gui/MicroCART/gamepadmonitor.cpp
@@ -0,0 +1,81 @@
+#include "gamepadmonitor.h"
+#include <QDebug>
+
+GamepadMonitor::GamepadMonitor(QObject *parent) : QObject(parent)
+{
+ m_gamepadManager = QGamepadManager::instance();
+
+ rollScale = 20; //-20 to 20 deg/s
+ pitchScale = 20;
+ yawScale = 30;
+ thrustScale = 30000; //0 to 60,000 thrust
+
+ connect(m_gamepadManager, SIGNAL(gamepadConnected(int)), this, SLOT(gamepadConnectedHandler(int)));
+ connect(m_gamepadManager, SIGNAL(gamepadDisconnected(int)), this, SLOT(gamepadDisconnectedHandler(int)));
+
+ auto gamepads = m_gamepadManager->connectedGamepads();
+ if (gamepads.isEmpty()) {
+ // Did not find any connected gamepads creating default gamepad;
+ m_gamepad = new QGamepad();
+ return;
+ }
+
+ m_gamepad = new QGamepad(*gamepads.begin(), this);
+ qInfo() << "gamepad is connected, deviceId = " << m_gamepad->deviceId();
+}
+
+void GamepadMonitor::gamepadConnectedHandler(int deviceId){
+ emit(gamepadConnected());
+ qInfo() << "gamepad is connected, deviceId = " << deviceId;
+ m_gamepad = new QGamepad(deviceId, this);
+}
+
+void GamepadMonitor::gamepadDisconnectedHandler(int deviceId){
+ emit(gamepadDisconnected());
+ qInfo() << "gamepad disconnected";
+}
+
+bool GamepadMonitor::isGamepadConnected(){
+ return m_gamepad->isConnected();
+}
+
+void GamepadMonitor::resetConfig(){
+ qInfo() << "gamepad config reset";
+ m_gamepadManager->resetConfiguration(m_gamepad->deviceId());
+}
+
+void GamepadMonitor::configureAxis(QString axisName){
+ if(axisName == "roll"){
+ m_gamepadManager->configureAxis(m_gamepad->deviceId(), QGamepadManager::AxisRightX);
+ qInfo() << "roll configured";
+ }else if(axisName == "yaw"){
+ m_gamepadManager->configureAxis(m_gamepad->deviceId(), QGamepadManager::AxisLeftX);
+ qInfo() << "yaw configured";
+ }else if(axisName == "pitch"){
+ m_gamepadManager->configureAxis(m_gamepad->deviceId(), QGamepadManager::AxisRightY);
+ qInfo() << "pitch configured";
+ }else if(axisName == "thrust"){
+ m_gamepadManager->configureAxis(m_gamepad->deviceId(), QGamepadManager::AxisLeftY);
+ qInfo() << "thrust configured";
+ }
+}
+
+float GamepadMonitor::getRoll(){
+ return (float) m_gamepad->axisRightX() * rollScale;
+}
+
+float GamepadMonitor::getYaw(){
+ return (float) m_gamepad->axisLeftX() * yawScale;
+}
+
+float GamepadMonitor::getPitch(){
+ return (float) m_gamepad->axisRightY() * pitchScale;
+}
+
+float GamepadMonitor::getThrust(){
+ return (float) (m_gamepad->axisLeftY() + 1) * thrustScale;
+}
+
+GamepadMonitor::~GamepadMonitor(){
+
+}
diff --git a/groundStation/gui/MicroCART/gamepadmonitor.h b/groundStation/gui/MicroCART/gamepadmonitor.h
new file mode 100644
index 0000000000000000000000000000000000000000..5b3ef05cd76daef5ce874c70d814876876aaa3fc
--- /dev/null
+++ b/groundStation/gui/MicroCART/gamepadmonitor.h
@@ -0,0 +1,42 @@
+#ifndef GAMEPADMONITOR_H
+#define GAMEPADMONITOR_H
+
+#include <QObject>
+#include <QtGamepad/QGamepad>
+
+
+class GamepadMonitor : public QObject
+{
+ Q_OBJECT
+public:
+ explicit GamepadMonitor(QObject *parent = nullptr);
+ ~GamepadMonitor();
+
+ bool isGamepadConnected();
+
+ float getRoll();
+ float getYaw();
+ float getPitch();
+ float getThrust();
+ void configureAxis(QString axisName);
+ void resetConfig();
+
+
+private:
+ QGamepad *m_gamepad;
+ QGamepadManager *m_gamepadManager;
+
+ float rollScale;
+ float pitchScale;
+ float yawScale;
+ float thrustScale;
+
+signals:
+ void gamepadConnected();
+ void gamepadDisconnected();
+public slots:
+ void gamepadConnectedHandler(int deviceId);
+ void gamepadDisconnectedHandler(int deviceId);
+};
+
+#endif // GAMEPADMONITOR_H
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 50d2226d83527453d409ae1d0be12b2f17eb3291..4a1bca851d180bdc271a9a694e877b664ca6e2fb 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -10,6 +10,7 @@
#include <QProcessEnvironment>
#include <QPixmap>
#include <QProcess>
+#include <QDebug>
#include "trackerworker.h"
#include "controlworker.h"
@@ -32,6 +33,7 @@ MainWindow::MainWindow(QWidget *parent) :
workerStartTimer(new QTimer(this)),
backendProcess(new QProcess(this)),
matlabProcess(new QProcess(this)),
+ pollGamepadTimer(new QTimer(this)),
connectedWorkers(0)
{
ui->setupUi(this);
@@ -94,7 +96,7 @@ MainWindow::MainWindow(QWidget *parent) :
/* Create another work for the crazyflie communication */
QThread * cfThread = new QThread(this);
- CrazyflieWorker * crazyflieWorker = new CrazyflieWorker();
+ crazyflieWorker = new CrazyflieWorker();
crazyflieWorker->moveToThread(cfThread);
/* connect signals for crazyflie worker */
@@ -168,6 +170,22 @@ MainWindow::MainWindow(QWidget *parent) :
// connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints()));
// connect(ui->setpointList, SIGNAL (doubleClicked(QModelIndex)), this, SLOT (sendSelectedSetpoint()));
+ /* start gamepad monitor */
+
+ gamepadMonitor = new GamepadMonitor();
+ if(gamepadMonitor->isGamepadConnected()){
+ onGamepadConnect();
+ }else{
+ onGamepadDisconnect();
+ }
+
+ connect(gamepadMonitor, SIGNAL(gamepadDisconnected()), this, SLOT(onGamepadDisconnect()));
+ connect(gamepadMonitor, SIGNAL(gamepadConnected()), this, SLOT(onGamepadConnect()));
+ connect(ui->pb_configRoll, SIGNAL(clicked()), this, SLOT(on_pb_configRoll_clicked()));
+ connect(pollGamepadTimer, SIGNAL(timeout()), this, SLOT(updateGamepad()));
+ pollGamepadTimer->start(50);
+
+
/* Populate scripts list */
QDir scriptsDir("scripts/");
QStringList scripts = scriptsDir.entryList();
@@ -721,3 +739,94 @@ void MainWindow::on_yawSetpoint_returnPressed()
// blockDefs[BLOCK_CONSTANT]->param_names[0],
// ui->yawSetpoint->text().toFloat()));
}
+
+void MainWindow::on_tActual_sliderMoved(int position)
+{
+ QToolTip::showText(QCursor::pos(), QString::number(position), nullptr);
+
+}
+
+void MainWindow::on_tActual_2_sliderMoved(int position)
+{
+ QToolTip::showText(QCursor::pos(), QString::number(position), nullptr);
+}
+
+
+/******** Gamepad handlers ********/
+
+void MainWindow::onGamepadDisconnect(){
+ crazyflieWorker->setCurrAttRateSetpoint(0,0,0,0);
+ ui->rRateActual->setText("0");
+ ui->pRateActual->setText("0");
+ ui->yRateActual->setText("0");
+ ui->tActual_2->setValue(0);
+
+ ui->noGamepadWarning->show();
+ ui->rbGamepadControl->setEnabled(false);
+ ui->pb_configPitch->setEnabled(false);
+ ui->pb_configRoll->setEnabled(false);
+ ui->pb_configYaw->setEnabled(false);
+ ui->pb_configThrust->setEnabled(false);
+ ui->pb_resetConfig->setEnabled(false);
+ ui->rbManualSetpoint->setChecked(true);
+}
+
+void MainWindow::onGamepadConnect(){
+ ui->noGamepadWarning->hide();
+ ui->rbGamepadControl->setEnabled(true);
+ ui->pb_configPitch->setEnabled(true);
+ ui->pb_configRoll->setEnabled(true);
+ ui->pb_configYaw->setEnabled(true);
+ ui->pb_configThrust->setEnabled(true);
+ ui->pb_resetConfig->setEnabled(true);
+}
+
+void MainWindow::updateGamepad(){
+ if(ui->tabWidget->currentWidget() == ui->Gamepad){
+ //on gamepad tab
+ ui->rollVizBar->setValue((int) gamepadMonitor->getRoll());
+ ui->yawVizBar->setValue((int) gamepadMonitor->getYaw());
+ ui->pitchVizBar->setValue((int) gamepadMonitor->getPitch());
+ ui->thrustVizBar->setValue((int) gamepadMonitor->getThrust());
+ }else if(ui->tabWidget->currentWidget() == ui->navigation){
+ if(ui->rbGamepadControl->isChecked()){
+ float roll = gamepadMonitor->getRoll();
+ float pitch = gamepadMonitor->getPitch();
+ float yaw = gamepadMonitor->getYaw();
+ float thrust = gamepadMonitor->getThrust();
+
+ crazyflieWorker->setCurrAttRateSetpoint(roll, pitch, yaw, thrust);
+ ui->rRateActual->setText(QString::number(roll));
+ ui->pRateActual->setText(QString::number(pitch));
+ ui->yRateActual->setText(QString::number(yaw));
+ ui->tActual_2->setValue((int) thrust);
+ }
+ }
+}
+
+void MainWindow::on_pb_resetConfig_clicked()
+{
+ gamepadMonitor->resetConfig();
+}
+
+void MainWindow::on_pb_configRoll_clicked()
+{
+ gamepadMonitor->configureAxis("roll");
+}
+
+void MainWindow::on_pb_configYaw_clicked()
+{
+ gamepadMonitor->configureAxis("yaw");
+}
+
+void MainWindow::on_pb_configPitch_clicked()
+{
+ gamepadMonitor->configureAxis("pitch");
+}
+
+void MainWindow::on_pb_configThrust_clicked()
+{
+ gamepadMonitor->configureAxis("thrust");
+}
+
+
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index a79eea75188bb23878240fa81e999f2a6818f921..f6c074042d6343557d60475beef06947c3c1d922 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -6,6 +6,9 @@
#include <QStandardItemModel>
#include <QGraphicsScene>
#include "quaditem.h"
+#include "gamepadmonitor.h"
+#include "crazyflieworker.h"
+
namespace Ui {
class MainWindow;
@@ -106,6 +109,23 @@ private slots:
void getEntryBoxChange(int index);
void getEntryBoxChange2(int index);
+ void onGamepadDisconnect();
+ void onGamepadConnect();
+ void on_pb_configRoll_clicked();
+ void updateGamepad();
+
+ void on_pb_resetConfig_clicked();
+
+ void on_pb_configYaw_clicked();
+
+ void on_pb_configThrust_clicked();
+
+ void on_pb_configPitch_clicked();
+
+ void on_tActual_sliderMoved(int position);
+
+ void on_tActual_2_sliderMoved(int position);
+
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
@@ -115,9 +135,12 @@ private:
float sp_z;
QTimer * trackerTimer;
QTimer * workerStartTimer;
+ QTimer *pollGamepadTimer;
QProcess * backendProcess;
QProcess * matlabProcess;
int connectedWorkers;
+ GamepadMonitor *gamepadMonitor;
+ CrazyflieWorker *crazyflieWorker;
};
#endif // MAINWINDOW_H
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 6a96b514f672d891b4b1dc8622b15b44c7de973e..e5442fad09d75dd442d6e4ad10c26c9a5a1d7877 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -18,7 +18,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
- <number>1</number>
+ <number>2</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -326,10 +326,215 @@
</property>
</widget>
</widget>
- <widget class="QWidget" name="controller">
+ <widget class="QWidget" name="Gamepad">
<attribute name="title">
- <string>Controller</string>
+ <string>Gamepad</string>
</attribute>
+ <widget class="QPushButton" name="pb_configRoll">
+ <property name="geometry">
+ <rect>
+ <x>720</x>
+ <y>130</y>
+ <width>141</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Configure Roll</string>
+ </property>
+ </widget>
+ <widget class="QSlider" name="rollVizBar">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>710</x>
+ <y>160</y>
+ <width>160</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="minimum">
+ <number>-20</number>
+ </property>
+ <property name="maximum">
+ <number>20</number>
+ </property>
+ <property name="value">
+ <number>0</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pb_resetConfig">
+ <property name="geometry">
+ <rect>
+ <x>440</x>
+ <y>90</y>
+ <width>191</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Reset Configuration</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pb_configYaw">
+ <property name="geometry">
+ <rect>
+ <x>160</x>
+ <y>140</y>
+ <width>141</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Configure Yaw</string>
+ </property>
+ </widget>
+ <widget class="QSlider" name="yawVizBar">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>150</x>
+ <y>170</y>
+ <width>160</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="minimum">
+ <number>-30</number>
+ </property>
+ <property name="maximum">
+ <number>30</number>
+ </property>
+ <property name="value">
+ <number>0</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QSlider" name="thrustVizBar">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>220</x>
+ <y>190</y>
+ <width>16</width>
+ <height>160</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>60000</number>
+ </property>
+ <property name="value">
+ <number>50</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ <widget class="QSlider" name="pitchVizBar">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>780</x>
+ <y>180</y>
+ <width>16</width>
+ <height>160</height>
+ </rect>
+ </property>
+ <property name="minimum">
+ <number>-20</number>
+ </property>
+ <property name="maximum">
+ <number>20</number>
+ </property>
+ <property name="value">
+ <number>0</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pb_configThrust">
+ <property name="geometry">
+ <rect>
+ <x>250</x>
+ <y>260</y>
+ <width>141</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Configure Thrust</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pb_configPitch">
+ <property name="geometry">
+ <rect>
+ <x>810</x>
+ <y>250</y>
+ <width>141</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Configure Pitch</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="noGamepadWarning">
+ <property name="geometry">
+ <rect>
+ <x>360</x>
+ <y>10</y>
+ <width>381</width>
+ <height>61</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>20</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>No Gamepad Detected</string>
+ </property>
+ <property name="scaledContents">
+ <bool>false</bool>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_6">
+ <property name="geometry">
+ <rect>
+ <x>450</x>
+ <y>130</y>
+ <width>181</width>
+ <height>91</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Select the input to bind then move the joystick that will control that input</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
</widget>
<widget class="QWidget" name="plots">
<attribute name="title">
@@ -345,6 +550,26 @@
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
+ <item>
+ <widget class="QRadioButton" name="rbManualSetpoint">
+ <property name="text">
+ <string>Manual Setpoint</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="rbGamepadControl">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Gamepad Control</string>
+ </property>
+ </widget>
+ </item>
<item>
<widget class="QLabel" name="label_1">
<property name="sizePolicy">
@@ -356,6 +581,9 @@
<property name="text">
<string>Send Position</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
</widget>
</item>
<item>
@@ -381,6 +609,9 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="text">
+ <string>0</string>
+ </property>
</widget>
</item>
<item row="1" column="0">
@@ -401,6 +632,9 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="text">
+ <string>0</string>
+ </property>
</widget>
</item>
<item row="2" column="0">
@@ -421,6 +655,50 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="tLabel">
+ <property name="text">
+ <string>Thrust</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QSlider" name="tActual">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>140</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="toolTipDuration">
+ <number>-1</number>
+ </property>
+ <property name="maximum">
+ <number>60000</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksBelow</enum>
+ </property>
+ <property name="tickInterval">
+ <number>30000</number>
+ </property>
</widget>
</item>
</layout>
@@ -450,6 +728,9 @@
<property name="text">
<string>Send Rate</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
</widget>
</item>
<item>
@@ -475,6 +756,9 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="text">
+ <string>0</string>
+ </property>
</widget>
</item>
<item row="1" column="0">
@@ -495,6 +779,9 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="text">
+ <string>0</string>
+ </property>
</widget>
</item>
<item row="2" column="0">
@@ -515,51 +802,20 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="text">
+ <string>0</string>
+ </property>
</widget>
</item>
- </layout>
- </item>
- <item>
- <widget class="QPushButton" name="pbActualToSetpoint">
- <property name="text">
- <string>Send</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_7">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Send Thrust</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QFormLayout" name="formLayout">
- <property name="fieldGrowthPolicy">
- <enum>QFormLayout::ExpandingFieldsGrow</enum>
- </property>
- <item row="0" column="0">
- <widget class="QLabel" name="thrustLabel">
+ <item row="3" column="0">
+ <widget class="QLabel" name="tRateLabel">
<property name="text">
<string>Thrust</string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="thrustActual">
+ <item row="3" column="1">
+ <widget class="QSlider" name="tActual_2">
<property name="enabled">
<bool>false</bool>
</property>
@@ -569,59 +825,30 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QPushButton" name="sendThrustButton">
- <property name="text">
- <string>To Waypoint</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Send Thrust</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QFormLayout" name="formLayout">
- <property name="fieldGrowthPolicy">
- <enum>QFormLayout::ExpandingFieldsGrow</enum>
- </property>
- <item row="0" column="0">
- <widget class="QLabel" name="thrustLabel">
- <property name="text">
- <string>Thrust</string>
+ <property name="minimumSize">
+ <size>
+ <width>140</width>
+ <height>0</height>
+ </size>
</property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="thrustActual">
- <property name="enabled">
- <bool>false</bool>
+ <property name="maximum">
+ <number>60000</number>
</property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksBelow</enum>
+ </property>
+ <property name="tickInterval">
+ <number>30000</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
- <widget class="QPushButton" name="sendThrustButton">
+ <widget class="QPushButton" name="pbActualToSetpoint">
<property name="text">
<string>Send</string>
</property>
@@ -645,25 +872,8 @@
<property name="text">
<string>Current Position</string>
</property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_7">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_4">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Current Position</string>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
</property>
</widget>
</item>