diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 8822c2481dd640f8b57e2c637036fa978e1aa3b9..74b375419a9b593bc10717fa634de6e2edba080b 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -195,6 +195,9 @@ void MainWindow::newConstantBlocks(QStringList blocks)
ui->zSetpointSelect->clear();
ui->zSetpointSelect->addItems(blocks);
+ ui->yawSetpointSelect->clear();
+ ui->yawSetpointSelect->addItems(blocks);
+
ui->xPositionSelect->clear();
ui->xPositionSelect->addItems(blocks);
@@ -224,6 +227,9 @@ void MainWindow::newConstantBlocks(QStringList blocks)
if (blocks[i].contains("z ", Qt::CaseInsensitive) || blocks[i].contains("alt", Qt::CaseInsensitive)) {
ui->zSetpointSelect->setCurrentIndex(i);
}
+ if (blocks[i].contains("yaw", Qt::CaseInsensitive) || blocks[i].contains("alt", Qt::CaseInsensitive)) {
+ ui->yawSetpointSelect->setCurrentIndex(i);
+ }
}
if (blocks[i] == QString("Pitch")) {
@@ -305,17 +311,29 @@ void MainWindow::on_paramValue_returnPressed()
void MainWindow::sendSetpoints()
{
- sp_x = ui->xSetpoint->text().toFloat();
- emit (setParamValue(ui->xSetpointSelect->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
+ if (ui->sendX->isChecked()) {
+ sp_x = ui->xSetpoint->text().toFloat();
+ emit (setParamValue(ui->xSetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
+ }
- sp_y = ui->ySetpoint->text().toFloat();
- emit (setParamValue(ui->ySetpointSelect->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
+ if (ui->sendY->isChecked()) {
+ sp_y = ui->ySetpoint->text().toFloat();
+ emit (setParamValue(ui->ySetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
+ }
- sp_z = ui->zSetpoint->text().toFloat();
- emit (setParamValue(ui->zSetpointSelect->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
+ if (ui->sendZ->isChecked()) {
+ sp_z = ui->zSetpoint->text().toFloat();
+ emit (setParamValue(ui->zSetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
+ }
+
+ if (ui->sendYaw->isChecked()) {
+ emit (setParamValue(ui->yawSetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0],
+ ui->yawSetpoint->text().toFloat()));
+ }
}
void MainWindow::on_pbAppendSetpoint_clicked()
@@ -342,13 +360,14 @@ void MainWindow::on_pbNextSetpoint_clicked()
void MainWindow::sendSelectedSetpoint()
{
if (ui->setpointList->currentIndex().isValid()) {
- QRegExp regex("\\[(.*), (.*), (.*)\\]");
+ QRegExp regex("\\[(.*), (.*), (.*), (.*)\\]");
int row = ui->setpointList->currentIndex().row();
regex.indexIn(setpointList->item(row)->text());
ui->xSetpoint->setText(regex.cap(1));
ui->ySetpoint->setText(regex.cap(2));
ui->zSetpoint->setText(regex.cap(3));
+ ui->yawSetpoint->setText(regex.cap(4));
sendSetpoints();
}
@@ -359,6 +378,7 @@ void MainWindow::on_pbActualToSetpoint_clicked()
ui->xSetpoint->setText(ui->xActual->text());
ui->ySetpoint->setText(ui->yActual->text());
ui->zSetpoint->setText(ui->zActual->text());
+ ui->yawSetpoint->setText(ui->yawActual->text());
}
void MainWindow::on_pbDeleteSetpoint_clicked()
@@ -376,8 +396,9 @@ void MainWindow::newControlGraph(QString graph)
void MainWindow::on_pbActualToWaypoint_clicked()
{
QString str("[" + ui->xActual->text() + ", "+
- ui->yActual->text() + ", " +
- ui->zActual->text() + "]");
+ ui->yActual->text() + ", " +
+ ui->zActual->text() + ", " +
+ ui->yawActual->text() + "]");
setpointList->appendRow(new QStandardItem(str));
}
@@ -412,8 +433,9 @@ void MainWindow::on_pbInsertSetpoint_clicked()
}
QString str("[" + ui->xSetpoint->text() + ", "+
- ui->ySetpoint->text() + ", " +
- ui->zSetpoint->text() + "]");
+ ui->ySetpoint->text() + ", " +
+ ui->zSetpoint->text() + ", " +
+ ui->yawSetpoint->text() + "]");
setpointList->insertRow(current, new QStandardItem(str));
}
@@ -480,6 +502,13 @@ void MainWindow::on_zSetpoint_returnPressed()
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
}
+void MainWindow::on_yawSetpoint_returnPressed()
+{
+ emit (setParamValue(ui->yawSetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0],
+ ui->yawSetpoint->text().toFloat()));
+}
+
void MainWindow::on_posattSrcVrpn_clicked()
{
trackerTimer->setInterval(100);
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 8061b4e0c301c69bbbc373e9e1592300c3408a56..a67d22907ec0000d4beeda473f132979949994a8 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -86,6 +86,8 @@ private slots:
void on_posattSrcQuad_clicked();
+ void on_yawSetpoint_returnPressed();
+
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index dea7a13c68d0ea4e1c4daac01cb6a4a74763b89e..097552bfbcfd9ae482f88f835a7cef234974178b 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -322,6 +322,22 @@
<item>
<widget class="QComboBox" name="zSetpointSelect"/>
</item>
+ <item>
+ <widget class="QLabel" name="label_18">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Yaw Setpoint:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="yawSetpointSelect"/>
+ </item>
</layout>
</item>
<item>
@@ -750,36 +766,6 @@
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="xSetpoint">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="ySetpoint">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="zSetpoint">
- <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="setpointLabel_3">
<property name="text">
@@ -794,6 +780,109 @@
</property>
</widget>
</item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="yawLabel">
+ <property name="text">
+ <string>Yaw</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_12">
+ <item>
+ <widget class="QLineEdit" name="xSetpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="sendX">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_13">
+ <item>
+ <widget class="QLineEdit" name="ySetpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="sendY">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_14">
+ <item>
+ <widget class="QLineEdit" name="zSetpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="sendZ">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="3" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_15">
+ <item>
+ <widget class="QLineEdit" name="yawSetpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="sendYaw">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
</layout>
</item>
<item>