From 3ea976c8c05a07b102a8a202c9c8dfe77c5b7f55 Mon Sep 17 00:00:00 2001
From: rhunt <rhunt@iastate.edu>
Date: Mon, 21 Mar 2022 00:31:31 +0100
Subject: [PATCH] send setpoint added
---
groundStation/gui/MicroCART/MicroCart.cflags | 1 +
groundStation/gui/MicroCART/MicroCart.config | 2 +
groundStation/gui/MicroCART/MicroCart.creator | 1 +
.../gui/MicroCART/MicroCart.cxxflags | 1 +
groundStation/gui/MicroCART/MicroCart.files | 38 ++
.../gui/MicroCART/MicroCart.includes | 1 +
.../gui/MicroCART/crazyflieworker.cpp | 1 +
groundStation/gui/MicroCART/crazyflieworker.h | 5 +-
groundStation/gui/MicroCART/mainwindow.cpp | 90 ++++-
groundStation/gui/MicroCART/mainwindow.h | 14 +-
groundStation/gui/MicroCART/mainwindow.ui | 330 ++++++------------
11 files changed, 246 insertions(+), 238 deletions(-)
create mode 100644 groundStation/gui/MicroCART/MicroCart.cflags
create mode 100644 groundStation/gui/MicroCART/MicroCart.config
create mode 100644 groundStation/gui/MicroCART/MicroCart.creator
create mode 100644 groundStation/gui/MicroCART/MicroCart.cxxflags
create mode 100644 groundStation/gui/MicroCART/MicroCart.files
create mode 100644 groundStation/gui/MicroCART/MicroCart.includes
diff --git a/groundStation/gui/MicroCART/MicroCart.cflags b/groundStation/gui/MicroCART/MicroCart.cflags
new file mode 100644
index 000000000..68d516530
--- /dev/null
+++ b/groundStation/gui/MicroCART/MicroCart.cflags
@@ -0,0 +1 @@
+-std=c17
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/MicroCart.config b/groundStation/gui/MicroCART/MicroCart.config
new file mode 100644
index 000000000..e0284f425
--- /dev/null
+++ b/groundStation/gui/MicroCART/MicroCart.config
@@ -0,0 +1,2 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
diff --git a/groundStation/gui/MicroCART/MicroCart.creator b/groundStation/gui/MicroCART/MicroCart.creator
new file mode 100644
index 000000000..e94cbbd30
--- /dev/null
+++ b/groundStation/gui/MicroCART/MicroCart.creator
@@ -0,0 +1 @@
+[General]
diff --git a/groundStation/gui/MicroCART/MicroCart.cxxflags b/groundStation/gui/MicroCART/MicroCart.cxxflags
new file mode 100644
index 000000000..6435dfce2
--- /dev/null
+++ b/groundStation/gui/MicroCART/MicroCart.cxxflags
@@ -0,0 +1 @@
+-std=c++17
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/MicroCart.files b/groundStation/gui/MicroCART/MicroCart.files
new file mode 100644
index 000000000..b4d086dd0
--- /dev/null
+++ b/groundStation/gui/MicroCART/MicroCart.files
@@ -0,0 +1,38 @@
+MicroCART
+MicroCART.pro
+README.md
+controlworker.cpp
+controlworker.h
+crazyflieworker.cpp
+crazyflieworker.h
+gridlines.gif
+main.cpp
+mainwindow.cpp
+mainwindow.h
+mainwindow.ui
+moc_controlworker.cpp
+moc_crazyflieworker.cpp
+moc_mainwindow.cpp
+moc_predefs.h
+moc_qFlightInstruments.cpp
+moc_qattitudeindicator.cpp
+moc_qcustomplot.cpp
+moc_quaditem.cpp
+moc_slotprocess.cpp
+moc_trackerworker.cpp
+qFlightInstruments.cpp
+qFlightInstruments.h
+qcustomplot.cpp
+qcustomplot.h
+qrc_resources.cpp
+quad.png
+quaditem.cpp
+quaditem.h
+resources.qrc
+setpoint.cpp
+setpoint.h
+slotprocess.cpp
+slotprocess.h
+trackerworker.cpp
+trackerworker.h
+ui_mainwindow.h
diff --git a/groundStation/gui/MicroCART/MicroCart.includes b/groundStation/gui/MicroCART/MicroCart.includes
new file mode 100644
index 000000000..9c558e357
--- /dev/null
+++ b/groundStation/gui/MicroCART/MicroCart.includes
@@ -0,0 +1 @@
+.
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index 6e5be8620..d51f2ce76 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -1,4 +1,5 @@
#include "crazyflieworker.h"
+#include <iostream>
CrazyflieWorker::CrazyflieWorker(QObject *parent) : QObject(parent)
{
diff --git a/groundStation/gui/MicroCART/crazyflieworker.h b/groundStation/gui/MicroCART/crazyflieworker.h
index 8b5ae498e..f22f24135 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.h
+++ b/groundStation/gui/MicroCART/crazyflieworker.h
@@ -20,8 +20,7 @@ class CrazyflieWorker : public QObject
public:
explicit CrazyflieWorker(QObject *parent = nullptr);
~CrazyflieWorker();
- void setCurrAttSetpoint(float roll, float pitch, float yaw, float throttle);
- void setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttleRate);
+
signals:
void gotParamValue(QString paramName, float value);
@@ -35,6 +34,8 @@ public slots:
void sendAttSetpoint();
void sendAttRateSetpoint();
void getParamValue(QString paramName);
+ void setCurrAttSetpoint(float roll, float pitch, float yaw, float throttle);
+ void setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttleRate);
private:
struct backend_conn * conn;
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index d62956482..26cf536a5 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -13,6 +13,7 @@
#include "trackerworker.h"
#include "controlworker.h"
+#include "crazyflieworker.h"
#include "quaditem.h"
#include "slotprocess.h"
#include "qFlightInstruments.h"
@@ -24,11 +25,13 @@ MainWindow::MainWindow(QWidget *parent) :
ui(new Ui::MainWindow),
setpointList(new QStandardItemModel(this)),
nextSpTimer(new QTimer(this)),
- sp_x(0.0f),
- sp_y(0.0f),
- sp_z(0.0f),
+ sp_roll(0.0f),
+ sp_pitch(0.0f),
+ sp_yaw(0.0f),
+ sp_thrust(0.0f),
trackerTimer(new QTimer(this)),
workerStartTimer(new QTimer(this)),
+ crazyflieTimer(new QTimer(this)),
backendProcess(new QProcess(this)),
matlabProcess(new QProcess(this)),
connectedWorkers(0)
@@ -41,7 +44,7 @@ MainWindow::MainWindow(QWidget *parent) :
posScene->addItem(posIndicator);
QGraphicsScene *attScene = new QGraphicsScene(this);
- ui->attView->setScene(attScene);
+ //ui->attView->setScene(attScene);
QADI * attIndicator = new QADI();
attScene->addWidget(attIndicator);
@@ -75,6 +78,21 @@ MainWindow::MainWindow(QWidget *parent) :
ControlWorker * controlWorker = new ControlWorker();
controlWorker->moveToThread(cwThread);
+ /*Create worker for the crazyflie and moves it to new thread*/
+ QThread * crazyflieThread = new QThread(this);
+ CrazyflieWorker * crazyflieWorker = new CrazyflieWorker();
+ controlWorker->moveToThread(crazyflieThread);
+
+ /*sgnals from crazyflie worker*/
+
+ /*signals to crazyflie worker*/
+ connect(this, SIGNAL (rateSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttSetpoint(float, float, float, float)));
+ connect(this, SIGNAL (angleSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttRateSetpoint(float, float, float, float)));
+ //dont knwo if i need next line
+ crazyflieTimer->setSingleShot(true);
+ connect(crazyflieTimer, SIGNAL(timeout()), this, SLOT (on_stopSetpointButton_clicked()));
+
+
/* Connect signals from control worker */
connect(controlWorker, SIGNAL (gotNodes(QStringList)), this, SLOT (newNodes(QStringList)));
connect(controlWorker, SIGNAL (gotParams(QStringList)), this, SLOT (newParams(QStringList)));
@@ -94,10 +112,13 @@ MainWindow::MainWindow(QWidget *parent) :
/* Connect and disconnect from backend when signals emitted */
connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
+ connect(workerStartTimer, SIGNAL (timeout()), crazyflieWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (connectWorkers()), crazyflieWorker, SLOT (connectBackend()));
connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
+ connect(this, SIGNAL (disconnectWorkers()), crazyflieWorker, SLOT (disconnectBackend()));
connect(backendProcess, SIGNAL (started()), this, SLOT (backendStarted()));
connect(backendProcess, SIGNAL (errorOccurred(QProcess::ProcessError)), this, SLOT (backendError(QProcess::ProcessError)));
@@ -111,6 +132,9 @@ MainWindow::MainWindow(QWidget *parent) :
connect(trackerWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
connect(trackerWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
+ connect(crazyflieWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
+ connect(crazyflieWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
+
/* Connect refresh button and refresh timer to tracker worker */
connect(trackerTimer, SIGNAL(timeout()), this, SLOT(updatePosAtt()));
// connect(ui->pbRefresh, SIGNAL (clicked()), this, SLOT (updatePosAtt()));
@@ -125,6 +149,7 @@ MainWindow::MainWindow(QWidget *parent) :
trackerTimer->start(100);
workerThread->start();
cwThread->start();
+ crazyflieThread->start();
matlabProcess->start();
/* Connect the setpointlist to the model */
@@ -178,11 +203,11 @@ void MainWindow::updateTracker(float x, float y, float z, float p, float r, floa
// ui->xActual->setText(QString::number(x));
// ui->yActual->setText(QString::number(y));
// ui->zActual->setText(QString::number(z));
- ui->pActual->setText(QString::number(p));
- ui->rActual->setText(QString::number(r));
- ui->yActual->setText(QString::number(yaw));
+ ui->currPitchActual->setText(QString::number(p));
+ ui->currRollActual->setText(QString::number(r));
+ ui->currYawActual->setText(QString::number(yaw));
- float dist = sqrt(pow(x - sp_x, 2.0) + pow(y - sp_y, 2.0) + pow(z - sp_z, 2.0));
+ //float dist = sqrt(pow(x - sp_x, 2.0) + pow(y - sp_y, 2.0) + pow(z - sp_z, 2.0));
// ui->dist->setText(QString::number(dist));
@@ -399,8 +424,10 @@ void MainWindow::on_paramValue_returnPressed()
// ui->paramValue->text().toFloat()));
}
+
void MainWindow::sendSetpoints()
{
+
// if (ui->sendX->isChecked()) {
// sp_x = ui->xSetpoint->text().toFloat();
// emit (setParamValue(ui->xSetpointSelect->currentText(),
@@ -596,3 +623,50 @@ void MainWindow::on_yawSetpoint_returnPressed()
// blockDefs[BLOCK_CONSTANT]->param_names[0],
// ui->yawSetpoint->text().toFloat()));
}
+
+void MainWindow::on_applySetpointButton_clicked()
+{
+ sp_roll = ui->rollSetpointBox->text().toFloat();
+ sp_pitch = ui->pitchSetpointBox->text().toFloat();
+ sp_yaw = ui->yawSetpointBox->text().toFloat();
+ sp_thrust = ui->thrustSetpointBox->text().toFloat();
+
+ crazyflieTimer -> start(10000);
+
+ //testing print statements
+ std::cout << "roll: " << sp_roll << std::endl;
+ std::cout << "pitch: " << sp_pitch << std::endl;
+ std::cout << "yaw: " << sp_yaw << std::endl;
+
+ if(ui->angleRadioButton->isCheckable()) {
+ //send as angle setpoint
+ emit(angleSetpointSignal(sp_roll, sp_pitch, sp_yaw, sp_thrust));
+ }
+ else if (ui->rateRadioButton->isCheckable()) {
+ //send as rate setpoint
+ emit(rateSetpointSignal(sp_roll, sp_pitch, sp_yaw, sp_thrust));
+ }
+
+
+}
+
+void MainWindow::on_stopSetpointButton_clicked()
+{
+ sp_roll = 0.0;
+ sp_pitch = 0.0;
+ sp_yaw = 0.0;
+ sp_thrust = 0.0;
+ //debug prints
+ std::cout << "roll: " << sp_roll << std::endl;
+ std::cout << "pitch: " << sp_pitch << std::endl;
+ std::cout << "yaw: " << sp_yaw << std::endl;
+
+ if(ui->angleRadioButton->isCheckable()) {
+ //send as angle setpoint
+ emit(angleSetpointSignal(sp_roll, sp_pitch, sp_yaw, sp_thrust));
+ }
+ else if (ui->rateRadioButton->isCheckable()) {
+ //send as rate setpoint
+ emit(rateSetpointSignal(sp_roll, sp_pitch, sp_yaw, sp_thrust));
+ }
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 4e24931aa..194eaa032 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -26,6 +26,8 @@ signals:
void getNodeOutput(QString node);
void setParamValue(QString node, QString param, float value);
void getPosAttFromBackend();
+ void rateSetpointSignal(float roll, float pitch, float yaw, float throttle);
+ void angleSetpointSignal(float roll, float pitch, float yaw, float throttle);
private slots:
void on_pbStart_clicked();
@@ -91,15 +93,21 @@ private slots:
void workerConnected();
void workerDisconnected();
+ void on_applySetpointButton_clicked();
+
+ void on_stopSetpointButton_clicked();
+
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
QTimer * nextSpTimer;
- float sp_x;
- float sp_y;
- float sp_z;
+ float sp_roll;
+ float sp_pitch;
+ float sp_yaw;
+ float sp_thrust;
QTimer * trackerTimer;
QTimer * workerStartTimer;
+ QTimer * crazyflieTimer;
QProcess * backendProcess;
QProcess * matlabProcess;
int connectedWorkers;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index ceea28e08..b76c0b0ed 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -2,6 +2,9 @@
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
<property name="geometry">
<rect>
<x>0</x>
@@ -10,6 +13,12 @@
<height>1034</height>
</rect>
</property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
@@ -17,8 +26,14 @@
<layout class="QVBoxLayout" name="verticalLayout_1">
<item>
<widget class="QTabWidget" name="tabWidget">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>1677</height>
+ </size>
+ </property>
<property name="currentIndex">
- <number>3</number>
+ <number>4</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -148,7 +163,7 @@
</sizepolicy>
</property>
<property name="text">
- <string>Send Position</string>
+ <string>Send Setpoint</string>
</property>
</widget>
</item>
@@ -158,16 +173,16 @@
<enum>QFormLayout::ExpandingFieldsGrow</enum>
</property>
<item row="0" column="0">
- <widget class="QLabel" name="pLabel">
+ <widget class="QLabel" name="pitchLabel">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="0" column="1">
- <widget class="QLineEdit" name="pActual">
+ <widget class="QLineEdit" name="pitchSetpointBox">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
@@ -178,16 +193,16 @@
</widget>
</item>
<item row="1" column="0">
- <widget class="QLabel" name="rLabel">
+ <widget class="QLabel" name="rollLabel">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="1">
- <widget class="QLineEdit" name="rActual">
+ <widget class="QLineEdit" name="rollSetpointBox">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
@@ -198,16 +213,16 @@
</widget>
</item>
<item row="2" column="0">
- <widget class="QLabel" name="yLabel">
+ <widget class="QLabel" name="yawLabel">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="2" column="1">
- <widget class="QLineEdit" name="yActual">
+ <widget class="QLineEdit" name="yawSetpointBox">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
@@ -217,51 +232,17 @@
</property>
</widget>
</item>
- </layout>
- </item>
- <item>
- <widget class="QPushButton" name="pbActualToWaypoint">
- <property name="text">
- <string>Send</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_6">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Send Rate</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="pRateLabel">
+ <item row="3" column="0">
+ <widget class="QLabel" name="thrustlabel">
<property name="text">
- <string>Pitch Rate</string>
+ <string>Thrust</string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="pRateActual">
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="thrustSetpointBox">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
@@ -271,74 +252,48 @@
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLabel" name="rRateLabel">
+ <item row="4" column="0">
+ <widget class="QRadioButton" name="angleRadioButton">
<property name="text">
- <string>Roll Rate</string>
+ <string>Angle</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="rRateActual">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="yRateLabel">
+ <item row="4" column="1">
+ <widget class="QRadioButton" name="rateRadioButton">
<property name="text">
- <string>Yaw Rate</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="yRateActual">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <string>Rate</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
- <widget class="QPushButton" name="pbActualToSetpoint">
+ <widget class="QPushButton" name="applySetpointButton">
<property name="text">
- <string>Send</string>
+ <string>Apply</string>
</property>
</widget>
</item>
<item>
- <widget class="Line" name="line_7">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
+ <widget class="QPushButton" name="stopSetpointButton">
+ <property name="text">
+ <string>Stop</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>
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
</property>
- <property name="text">
- <string>Send Thrust</string>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
</property>
- </widget>
+ </spacer>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
@@ -346,177 +301,98 @@
<enum>QFormLayout::ExpandingFieldsGrow</enum>
</property>
<item row="0" column="0">
- <widget class="QLabel" name="thrustLabel">
+ <widget class="QLabel" name="tsLabel">
<property name="text">
- <string>Thrust</string>
+ <string>TS: </string>
</property>
</widget>
</item>
<item row="0" column="1">
- <widget class="QLineEdit" name="thrustActual">
- <property name="enabled">
- <bool>false</bool>
+ <widget class="QLabel" name="tsActual">
+ <property name="text">
+ <string>N/A</string>
</property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="currRollLabel">
+ <property name="text">
+ <string>Current Roll: </string>
</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">
+ <item row="1" column="1">
+ <widget class="QLabel" name="currRollActual">
<property name="text">
- <string>Thrust</string>
+ <string>N/A</string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="thrustActual">
- <property name="enabled">
- <bool>false</bool>
+ <item row="2" column="0">
+ <widget class="QLabel" name="currPitchLabel">
+ <property name="text">
+ <string>Current Pitch: </string>
</property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLabel" name="currPitchActual">
+ <property name="text">
+ <string>N/A</string>
</property>
</widget>
</item>
- </layout>
- </item>
- <item>
- <widget class="QPushButton" name="sendThrustButton">
- <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_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>
- </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>
- </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="tsLabel">
+ <item row="3" column="0">
+ <widget class="QLabel" name="currYawLabel">
<property name="text">
- <string>TS: </string>
+ <string>Current Yaw: </string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QLabel" name="tsActual">
+ <item row="3" column="1">
+ <widget class="QLabel" name="currYawActual">
<property name="text">
<string>N/A</string>
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLabel" name="currRLabel">
+ <item row="4" column="0">
+ <widget class="QLabel" name="currRoleRateLabel">
<property name="text">
- <string>Current Roll: </string>
+ <string>Current Roll Rate:</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QLabel" name="currRActual">
- <property name="text">
+ <item row="4" column="1">
+ <widget class="QLabel" name="currRollRateActual">
+ <property name="text">
<string>N/A</string>
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QLabel" name="currPLabel">
+ <item row="5" column="0">
+ <widget class="QLabel" name="currPitchRateLabel">
<property name="text">
- <string>Current Pitch: </string>
+ <string>Current Pitch Rate:</string>
</property>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QLabel" name="currPActual">
+ <item row="5" column="1">
+ <widget class="QLabel" name="currPitchRateActual">
<property name="text">
<string>N/A</string>
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QLabel" name="currYLabel">
+ <item row="6" column="0">
+ <widget class="QLabel" name="currYawRateLabel">
<property name="text">
- <string>Current Yaw: </string>
+ <string>Current Yaw Rate:</string>
</property>
</widget>
</item>
- <item row="3" column="1">
- <widget class="QLabel" name="currYActual">
+ <item row="6" column="1">
+ <widget class="QLabel" name="currYawRateActual">
<property name="text">
<string>N/A</string>
</property>
@@ -538,9 +414,6 @@
</property>
</widget>
</item>
- <item>
- <widget class="QGraphicsView" name="attView"/>
- </item>
</layout>
</item>
</layout>
@@ -557,7 +430,7 @@
<x>0</x>
<y>0</y>
<width>1186</width>
- <height>28</height>
+ <height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuScripts">
@@ -578,6 +451,13 @@
<widget class="QStatusBar" name="statusBar"/>
</widget>
<layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+ <customwidget>
+ <class>QCustomPlot</class>
+ <extends>QWidget</extends>
+ <header>qcustomplot.h</header>
+ </customwidget>
+ </customwidgets>
<resources/>
<connections/>
</ui>
--
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