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Commit 2852316a authored by C-Glick's avatar C-Glick
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Added gamepad support to GUI, when enabled sets the rate setpoints of the crazyflieWorker

parent 2dfa2dc5
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3 merge requests!76lots of gui updates,!75Lost of gui updates,!74lots of gui updates among others
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groundStation/gui/MicroCART/MicroCART.files
+ 2
− 0
View file @ 2852316a
...@@ -5,6 +5,8 @@ controlworker.cpp ...@@ -5,6 +5,8 @@ controlworker.cpp
controlworker.h controlworker.h
crazyflieworker.cpp crazyflieworker.cpp
crazyflieworker.h crazyflieworker.h
gamepadmonitor.cpp
gamepadmonitor.h
gridlines.gif gridlines.gif
main.cpp main.cpp
mainwindow.cpp mainwindow.cpp
......
groundStation/gui/MicroCART/MicroCART.pro
+ 5
− 3
View file @ 2852316a
...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
# #
#------------------------------------------------- #-------------------------------------------------
QT += core gui QT += core gui gamepad
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets printsupport greaterThan(QT_MAJOR_VERSION, 4): QT += widgets printsupport
...@@ -23,7 +23,8 @@ SOURCES += main.cpp\ ...@@ -23,7 +23,8 @@ SOURCES += main.cpp\
qFlightInstruments.cpp\ qFlightInstruments.cpp\
qcustomplot.cpp\ qcustomplot.cpp\
crazyflieworker.cpp\ crazyflieworker.cpp\
setpoint.cpp setpoint.cpp\
gamepadmonitor.cpp
HEADERS += mainwindow.h \ HEADERS += mainwindow.h \
trackerworker.h \ trackerworker.h \
...@@ -34,7 +35,8 @@ HEADERS += mainwindow.h \ ...@@ -34,7 +35,8 @@ HEADERS += mainwindow.h \
qFlightInstruments.h\ qFlightInstruments.h\
qcustomplot.h\ qcustomplot.h\
crazyflieworker.h\ crazyflieworker.h\
setpoint.h setpoint.h\
gamepadmonitor.h
FORMS += mainwindow.ui FORMS += mainwindow.ui
......
groundStation/gui/MicroCART/crazyflieworker.cpp
+ 4
− 4
View file @ 2852316a
...@@ -59,12 +59,12 @@ void CrazyflieWorker::setCurrAttSetpoint(float roll, float pitch, float yaw, flo ...@@ -59,12 +59,12 @@ void CrazyflieWorker::setCurrAttSetpoint(float roll, float pitch, float yaw, flo
currAttitudeSetpoint.throttle = throttle; 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.roll = rollRate;
currAttitudeRateSetpoint.pitch = pitchRate; currAttitudeRateSetpoint.pitch = pitchRate;
currAttitudeRateSetpoint.yaw = yawRate; currAttitudeRateSetpoint.yaw = yawRate;
currAttitudeRateSetpoint.throttle = throttleRate; currAttitudeRateSetpoint.throttle = throttle;
} }
...@@ -72,7 +72,7 @@ void CrazyflieWorker::sendAttRateSetpoint() ...@@ -72,7 +72,7 @@ void CrazyflieWorker::sendAttRateSetpoint()
{ {
struct frontend_override_data data; struct frontend_override_data data;
data.enable = 2; //attitude rate 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.throttle = currAttitudeRateSetpoint.throttle;
data.roll = currAttitudeRateSetpoint.roll; data.roll = currAttitudeRateSetpoint.roll;
data.pitch = currAttitudeRateSetpoint.pitch; data.pitch = currAttitudeRateSetpoint.pitch;
...@@ -269,4 +269,4 @@ void CrazyflieWorker::getGroupEntries(int box, QString gName) { ...@@ -269,4 +269,4 @@ void CrazyflieWorker::getGroupEntries(int box, QString gName) {
entryList.append(cur); entryList.append(cur);
} }
emit(gotGroupEntries(box, entryList)); emit(gotGroupEntries(box, entryList));
} }
\ No newline at end of file
groundStation/gui/MicroCART/gamepadmonitor.cpp 0 → 100644
+ 81
− 0
View file @ 2852316a
#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(){
}
groundStation/gui/MicroCART/gamepadmonitor.h 0 → 100644
+ 42
− 0
View file @ 2852316a
#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
groundStation/gui/MicroCART/mainwindow.cpp
+ 110
− 1
View file @ 2852316a
...@@ -10,6 +10,7 @@ ...@@ -10,6 +10,7 @@
#include <QProcessEnvironment> #include <QProcessEnvironment>
#include <QPixmap> #include <QPixmap>
#include <QProcess> #include <QProcess>
#include <QDebug>
#include "trackerworker.h" #include "trackerworker.h"
#include "controlworker.h" #include "controlworker.h"
...@@ -32,6 +33,7 @@ MainWindow::MainWindow(QWidget *parent) : ...@@ -32,6 +33,7 @@ MainWindow::MainWindow(QWidget *parent) :
workerStartTimer(new QTimer(this)), workerStartTimer(new QTimer(this)),
backendProcess(new QProcess(this)), backendProcess(new QProcess(this)),
matlabProcess(new QProcess(this)), matlabProcess(new QProcess(this)),
pollGamepadTimer(new QTimer(this)),
connectedWorkers(0) connectedWorkers(0)
{ {
ui->setupUi(this); ui->setupUi(this);
...@@ -94,7 +96,7 @@ MainWindow::MainWindow(QWidget *parent) : ...@@ -94,7 +96,7 @@ MainWindow::MainWindow(QWidget *parent) :
/* Create another work for the crazyflie communication */ /* Create another work for the crazyflie communication */
QThread * cfThread = new QThread(this); QThread * cfThread = new QThread(this);
CrazyflieWorker * crazyflieWorker = new CrazyflieWorker(); crazyflieWorker = new CrazyflieWorker();
crazyflieWorker->moveToThread(cfThread); crazyflieWorker->moveToThread(cfThread);
/* connect signals for crazyflie worker */ /* connect signals for crazyflie worker */
...@@ -168,6 +170,22 @@ MainWindow::MainWindow(QWidget *parent) : ...@@ -168,6 +170,22 @@ MainWindow::MainWindow(QWidget *parent) :
// connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints())); // connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints()));
// connect(ui->setpointList, SIGNAL (doubleClicked(QModelIndex)), this, SLOT (sendSelectedSetpoint())); // 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 */ /* Populate scripts list */
QDir scriptsDir("scripts/"); QDir scriptsDir("scripts/");
QStringList scripts = scriptsDir.entryList(); QStringList scripts = scriptsDir.entryList();
...@@ -721,3 +739,94 @@ void MainWindow::on_yawSetpoint_returnPressed() ...@@ -721,3 +739,94 @@ void MainWindow::on_yawSetpoint_returnPressed()
// blockDefs[BLOCK_CONSTANT]->param_names[0], // blockDefs[BLOCK_CONSTANT]->param_names[0],
// ui->yawSetpoint->text().toFloat())); // 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");
}
groundStation/gui/MicroCART/mainwindow.h
+ 23
− 0
View file @ 2852316a
...@@ -6,6 +6,9 @@ ...@@ -6,6 +6,9 @@
#include <QStandardItemModel> #include <QStandardItemModel>
#include <QGraphicsScene> #include <QGraphicsScene>
#include "quaditem.h" #include "quaditem.h"
#include "gamepadmonitor.h"
#include "crazyflieworker.h"
namespace Ui { namespace Ui {
class MainWindow; class MainWindow;
...@@ -106,6 +109,23 @@ private slots: ...@@ -106,6 +109,23 @@ private slots:
void getEntryBoxChange(int index); void getEntryBoxChange(int index);
void getEntryBoxChange2(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: private:
Ui::MainWindow *ui; Ui::MainWindow *ui;
QStandardItemModel * setpointList; QStandardItemModel * setpointList;
...@@ -115,9 +135,12 @@ private: ...@@ -115,9 +135,12 @@ private:
float sp_z; float sp_z;
QTimer * trackerTimer; QTimer * trackerTimer;
QTimer * workerStartTimer; QTimer * workerStartTimer;
QTimer *pollGamepadTimer;
QProcess * backendProcess; QProcess * backendProcess;
QProcess * matlabProcess; QProcess * matlabProcess;
int connectedWorkers; int connectedWorkers;
GamepadMonitor *gamepadMonitor;
CrazyflieWorker *crazyflieWorker;
}; };
#endif // MAINWINDOW_H #endif // MAINWINDOW_H
groundStation/gui/MicroCART/mainwindow.ui
+ 315
− 105
View file @ 2852316a
...@@ -18,7 +18,7 @@ ...@@ -18,7 +18,7 @@
<item> <item>
<widget class="QTabWidget" name="tabWidget"> <widget class="QTabWidget" name="tabWidget">
<property name="currentIndex"> <property name="currentIndex">
<number>1</number> <number>2</number>
</property> </property>
<widget class="QWidget" name="backend"> <widget class="QWidget" name="backend">
<attribute name="title"> <attribute name="title">
...@@ -326,10 +326,215 @@ ...@@ -326,10 +326,215 @@
</property> </property>
</widget> </widget>
</widget> </widget>
<widget class="QWidget" name="controller"> <widget class="QWidget" name="Gamepad">
<attribute name="title"> <attribute name="title">
<string>Controller</string> <string>Gamepad</string>
</attribute> </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>
<widget class="QWidget" name="plots"> <widget class="QWidget" name="plots">
<attribute name="title"> <attribute name="title">
...@@ -345,6 +550,26 @@ ...@@ -345,6 +550,26 @@
<layout class="QHBoxLayout" name="horizontalLayout_3"> <layout class="QHBoxLayout" name="horizontalLayout_3">
<item> <item>
<layout class="QVBoxLayout" name="verticalLayout_4"> <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> <item>
<widget class="QLabel" name="label_1"> <widget class="QLabel" name="label_1">
<property name="sizePolicy"> <property name="sizePolicy">
...@@ -356,6 +581,9 @@ ...@@ -356,6 +581,9 @@
<property name="text"> <property name="text">
<string>Send Position</string> <string>Send Position</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item> <item>
...@@ -381,6 +609,9 @@ ...@@ -381,6 +609,9 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="text">
<string>0</string>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
...@@ -401,6 +632,9 @@ ...@@ -401,6 +632,9 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="text">
<string>0</string>
</property>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="2" column="0">
...@@ -421,6 +655,50 @@ ...@@ -421,6 +655,50 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </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> </widget>
</item> </item>
</layout> </layout>
...@@ -450,6 +728,9 @@ ...@@ -450,6 +728,9 @@
<property name="text"> <property name="text">
<string>Send Rate</string> <string>Send Rate</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item> <item>
...@@ -475,6 +756,9 @@ ...@@ -475,6 +756,9 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="text">
<string>0</string>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
...@@ -495,6 +779,9 @@ ...@@ -495,6 +779,9 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="text">
<string>0</string>
</property>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="2" column="0">
...@@ -515,51 +802,20 @@ ...@@ -515,51 +802,20 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="text">
<string>0</string>
</property>
</widget> </widget>
</item> </item>
</layout> <item row="3" column="0">
</item> <widget class="QLabel" name="tRateLabel">
<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">
<property name="text"> <property name="text">
<string>Thrust</string> <string>Thrust</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="1"> <item row="3" column="1">
<widget class="QLineEdit" name="thrustActual"> <widget class="QSlider" name="tActual_2">
<property name="enabled"> <property name="enabled">
<bool>false</bool> <bool>false</bool>
</property> </property>
...@@ -569,59 +825,30 @@ ...@@ -569,59 +825,30 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
</widget> <property name="minimumSize">
</item> <size>
</layout> <width>140</width>
</item> <height>0</height>
<item> </size>
<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> </property>
</widget> <property name="maximum">
</item> <number>60000</number>
<item row="0" column="1">
<widget class="QLineEdit" name="thrustActual">
<property name="enabled">
<bool>false</bool>
</property> </property>
<property name="sizePolicy"> <property name="orientation">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed"> <enum>Qt::Horizontal</enum>
<horstretch>0</horstretch> </property>
<verstretch>0</verstretch> <property name="tickPosition">
</sizepolicy> <enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>30000</number>
</property> </property>
</widget> </widget>
</item> </item>
</layout> </layout>
</item> </item>
<item> <item>
<widget class="QPushButton" name="sendThrustButton"> <widget class="QPushButton" name="pbActualToSetpoint">
<property name="text"> <property name="text">
<string>Send</string> <string>Send</string>
</property> </property>
...@@ -645,25 +872,8 @@ ...@@ -645,25 +872,8 @@
<property name="text"> <property name="text">
<string>Current Position</string> <string>Current Position</string>
</property> </property>
</widget> <property name="alignment">
</item> <set>Qt::AlignCenter</set>
<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> </property>
</widget> </widget>
</item> </item>
......
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