diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index f5bb8ea5069cd4d1a8c4c451e005f03e383ac737..811433dab205a3e207bfc5af4ceed1f71f5d38a4 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -1,58 +1,59 @@
-#-------------------------------------------------
-#
-# Project created by QtCreator 2017-02-23T15:03:45
-#
-#-------------------------------------------------
-
-QT += core gui
-
-greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
-
-TARGET = MicroCART
-TEMPLATE = app
-
-LIBS += ../../frontend.a
-INCLUDEPATH += ../../src/frontend/
-
-SOURCES += main.cpp\
- mainwindow.cpp \
- trackerworker.cpp \
- controlworker.cpp \
- quaditem.cpp \
- slotprocess.cpp \
- qFlightInstruments.cpp
-
-HEADERS += mainwindow.h \
- trackerworker.h \
- controlworker.h \
- quaditem.h \
- slotprocess.h \
- qFlightInstruments.h
-
-FORMS += mainwindow.ui
-
-INCLUDEPATH += $$PWD/../../../quad/inc
-DEPENDPATH += $$PWD/../../../quad/inc
-
-win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lgraph_blocks
-else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lgraph_blocks
-else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lgraph_blocks
-
-win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libgraph_blocks.a
-else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libgraph_blocks.a
-else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/graph_blocks.lib
-else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/graph_blocks.lib
-else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libgraph_blocks.a
-
-win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lcomputation_graph
-else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lcomputation_graph
-else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lcomputation_graph
-
-win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libcomputation_graph.a
-else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libcomputation_graph.a
-else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/computation_graph.lib
-else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/computation_graph.lib
-else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libcomputation_graph.a
-
-RESOURCES += \
- resources.qrc
+#-------------------------------------------------
+#
+# Project created by QtCreator 2017-02-23T15:03:45
+#
+#-------------------------------------------------
+
+QT += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = MicroCART
+TEMPLATE = app
+
+LIBS += ../../frontend.a
+INCLUDEPATH += ../../src/frontend/
+
+SOURCES += main.cpp\
+ mainwindow.cpp \
+ trackerworker.cpp \
+ controlworker.cpp \
+ quaditem.cpp \
+ slotprocess.cpp \
+ qFlightInstruments.cpp
+
+HEADERS += mainwindow.h \
+ trackerworker.h \
+ controlworker.h \
+ quaditem.h \
+ slotprocess.h \
+ graph_blocks.h \
+ qFlightInstruments.h
+
+FORMS += mainwindow.ui
+
+INCLUDEPATH += $$PWD/../../../quad/inc
+DEPENDPATH += $$PWD/../../../quad/inc
+
+win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lgraph_blocks
+else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lgraph_blocks
+else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lgraph_blocks
+
+win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libgraph_blocks.a
+else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libgraph_blocks.a
+else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/graph_blocks.lib
+else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/graph_blocks.lib
+else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libgraph_blocks.a
+
+win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lcomputation_graph
+else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lcomputation_graph
+else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lcomputation_graph
+
+win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libcomputation_graph.a
+else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libcomputation_graph.a
+else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/computation_graph.lib
+else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/computation_graph.lib
+else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libcomputation_graph.a
+
+RESOURCES += \
+ resources.qrc
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index d91ea12c1552ad33a470770fcf5d147a40605afc..ca0d2ee6f8bbedbe5d8950b8b110873477cdecd7 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -1,601 +1,612 @@
-#include "mainwindow.h"
-#include "ui_mainwindow.h"
-
-#include <QFileDialog>
-#include <QThread>
-#include <QTimer>
-#include <QRegExp>
-#include <QProcessEnvironment>
-#include <QPixmap>
-#include <QProcess>
-
-#include "trackerworker.h"
-#include "controlworker.h"
-#include "graph_blocks.h"
-#include "quaditem.h"
-#include "slotprocess.h"
-#include "qFlightInstruments.h"
-
-#include <iostream>
-MainWindow::MainWindow(QWidget *parent) :
- QMainWindow(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),
- trackerTimer(new QTimer(this)),
- workerStartTimer(new QTimer(this)),
- backendProcess(new QProcess(this)),
- connectedWorkers(0)
-{
- ui->setupUi(this);
-
- QGraphicsScene *posScene = new QGraphicsScene(this);
- ui->posView->setScene(posScene);
- QuadItem * posIndicator = new QuadItem();
- posScene->addItem(posIndicator);
-
- QGraphicsScene *attScene = new QGraphicsScene(this);
- ui->attView->setScene(attScene);
- QADI * attIndicator = new QADI();
- attScene->addWidget(attIndicator);
-
-
- workerStartTimer->setSingleShot(true);
-
- /* Create a thread for workers */
- QThread* workerThread = new QThread(this);
-
- /* Create a worker to update the tracker */
- TrackerWorker * trackerWorker = new TrackerWorker();
-
- /* Move it to the worker thread. This means that slots of this worker
- * will run in the worker thread, and not block the UI */
- trackerWorker->moveToThread(workerThread);
-
- /* Connect tracker worker */
- connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
- this, SLOT (updateTracker(float, float, float, float, float, float)));
-
- connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
- posIndicator, SLOT(updatePos(float,float,float,float,float,float)));
-
- connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
- attIndicator, SLOT(updateAttitude(float, float, float, float, float, float)));
-
- backendProcess->setProcessChannelMode(QProcess::MergedChannels);
-
- /* Create another worker for the control graph */
- QThread * cwThread = new QThread(this);
- ControlWorker * controlWorker = new ControlWorker();
- controlWorker->moveToThread(cwThread);
-
- /* Connect signals from control worker */
- connect(controlWorker, SIGNAL (gotNodes(QStringList)), this, SLOT (newNodes(QStringList)));
- connect(controlWorker, SIGNAL (gotParams(QStringList)), this, SLOT (newParams(QStringList)));
- connect(controlWorker, SIGNAL (gotParamValue(QString, QString, float)), this, SLOT (newParamValue(QString, QString, float)));
- connect(controlWorker, SIGNAL (gotNodeOutput(QString, float)), this, SLOT (newNodeOutput(QString, float)));
- connect(controlWorker, SIGNAL (gotConstantBlocks(QStringList)), this, SLOT (newConstantBlocks(QStringList)));
- connect(controlWorker, SIGNAL (graphRendered(QString)), this, SLOT (newControlGraph(QString)));
- connect(controlWorker, SIGNAL (paramSet(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
-
- /* Signals to control worker */
- connect(ui->pbControlRefresh, SIGNAL (clicked()), controlWorker, SLOT (getNodes()));
- connect(ui->nodeSelect, SIGNAL (currentIndexChanged(QString)), controlWorker, SLOT (getParams(QString)));
- connect(this, SIGNAL (getParamValue(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
- connect(this, SIGNAL (setParamValue(QString, QString, float)), controlWorker, SLOT (setParamValue(QString, QString, float)));
- connect(this, SIGNAL (getNodeOutput(QString)), controlWorker, SLOT (getNodeOutput(QString)));
-
- /* Connect and disconnect from backend when signals emitted */
- connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
- connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
- connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
- connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
- connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
- connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
-
- connect(backendProcess, SIGNAL (started()), this, SLOT (backendStarted()));
- connect(backendProcess, SIGNAL (errorOccurred(QProcess::ProcessError)), this, SLOT (backendError(QProcess::ProcessError)));
- connect(backendProcess, SIGNAL (finished(int, QProcess::ExitStatus)), this, SLOT (backendFinished(int, QProcess::ExitStatus)));
- connect(backendProcess, SIGNAL (readyReadStandardOutput()), this, SLOT (backendRead()));
- connect(backendProcess, SIGNAL (readyReadStandardError()), this, SLOT (backendRead()));
-
- connect(controlWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
- connect(controlWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
-
- connect(trackerWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
- connect(trackerWorker, 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()));
-
- connect(this, SIGNAL(getPosAttFromBackend()), trackerWorker, SLOT(process()));
-
- /* Timer used for next setpoint */
- nextSpTimer->setSingleShot(true);
- connect(nextSpTimer, SIGNAL (timeout()), this, SLOT (on_pbNextSetpoint_clicked()));
-
- /* Start the things */
- trackerTimer->start(100);
- workerThread->start();
- cwThread->start();
-
- /* Connect the setpointlist to the model */
- ui->setpointList->setModel(setpointList);
-
- /* Connect various things that can result in sending setpoints */
- connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints()));
- connect(ui->setpointList, SIGNAL (doubleClicked(QModelIndex)), this, SLOT (sendSelectedSetpoint()));
-
- /* Populate scripts list */
- QDir scriptsDir("scripts/");
- QStringList scripts = scriptsDir.entryList();
- for (int i = 0; i < scripts.size(); i++) {
- QAction * action = ui->menuScripts->addAction(scripts[i]);
- SlotProcess * scriptProcess = new SlotProcess(action);
- scriptProcess->setProgram(scriptsDir.filePath(scripts[i]));
- connect(action, SIGNAL (triggered()), scriptProcess, SLOT (startProcess()));
- }
-}
-
-MainWindow::~MainWindow()
-{
- delete ui;
-}
-
-void MainWindow::updatePosAtt()
-{
- if (ui->posattSrcVrpn->isChecked()) {
- emit(getPosAttFromBackend());
- } else if (ui->posattSrcQuad->isChecked()) {
- emit(getNodeOutput(ui->xPositionSelect->currentText()));
- emit(getNodeOutput(ui->yPositionSelect->currentText()));
- emit(getNodeOutput(ui->zPositionSelect->currentText()));
- emit(getNodeOutput(ui->pAttitudeSelect->currentText()));
- emit(getNodeOutput(ui->rAttitudeSelect->currentText()));
- emit(getNodeOutput(ui->yAttitudeSelect->currentText()));
- }
-}
-
-void MainWindow::updateTracker(float x, float y, float z, float p, float r, float yaw)
-{
- ui->xActual->setText(QString::number(x));
- ui->yActual->setText(QString::number(y));
- ui->zActual->setText(QString::number(z));
- ui->pitchActual->setText(QString::number(p));
- ui->rollActual->setText(QString::number(r));
- ui->yawActual->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));
-
- ui->dist->setText(QString::number(dist));
-
- if (!nextSpTimer->isActive() && ui->autonavEnabled->isChecked() &&
- (dist < ui->autonavThreshold->text().toFloat())) {
- nextSpTimer->start(ui->autonavDelay->text().toInt());
- }
-}
-
-void MainWindow::on_pbStart_clicked()
-{
- backendProcess->setProgram(ui->backendPath->text());
-
- backendProcess->start();
-}
-
-void MainWindow::backendStarted()
-{
- ui->pbStart->setEnabled(false);
- ui->pbStop->setEnabled(true);
- workerStartTimer->start(750);
-}
-
-void MainWindow::backendError(QProcess::ProcessError error)
-{
- ui->vConsole->append(backendProcess->errorString());
-}
-
-void MainWindow::backendRead()
-{
- ui->vConsole->append(backendProcess->readAll());
-}
-
-void MainWindow::workerConnected()
-{
- connectedWorkers++;
- if (connectedWorkers == 2) {
- ui->pbStart->setEnabled(false);
- ui->pbConnect->setEnabled(false);
- ui->pbStop->setEnabled(true);
- }
-}
-
-void MainWindow::workerDisconnected()
-{
- connectedWorkers--;
- if (( connectedWorkers == 0) && (backendProcess->state() == QProcess::Running)) {
- backendProcess->terminate();
- } else if (connectedWorkers == 0) {
- ui->pbStart->setEnabled(true);
- ui->pbConnect->setEnabled(true);
- ui->pbStop->setEnabled(false);
- }
-}
-
-void MainWindow::backendFinished(int exitCode, QProcess::ExitStatus exitStatus)
-{
- ui->pbStart->setEnabled(true);
- ui->pbConnect->setEnabled(true);
- ui->pbStop->setEnabled(false);
-}
-
-void MainWindow::on_pbConnect_clicked()
-{
- emit(connectWorkers());
-}
-
-void MainWindow::on_pbStop_clicked()
-{
- emit(disconnectWorkers());
-}
-
-void MainWindow::on_chooseBackend_clicked()
-{
- QString backendPath = QFileDialog::getOpenFileName(this,
- tr("Path to Backend Executable"));
- ui->backendPath->setText(backendPath);
-}
-
-
-void MainWindow::newNodes(QStringList blocks)
-{
- QComboBox * select = ui->nodeSelect;
- select->clear();
- select->addItems(blocks);
-
- this->ui->noGraphWarning1->setVisible(false);
- this->ui->noGraphWarning2->setVisible(false);
- this->ui->noGraphWarningLine->setVisible(false);
-}
-
-void MainWindow::newConstantBlocks(QStringList blocks)
-{
- ui->xSetpointSelect->clear();
- ui->xSetpointSelect->addItems(blocks);
-
- ui->ySetpointSelect->clear();
- ui->ySetpointSelect->addItems(blocks);
-
- ui->zSetpointSelect->clear();
- ui->zSetpointSelect->addItems(blocks);
-
- ui->yawSetpointSelect->clear();
- ui->yawSetpointSelect->addItems(blocks);
-
- ui->xPositionSelect->clear();
- ui->xPositionSelect->addItems(blocks);
-
- ui->yPositionSelect->clear();
- ui->yPositionSelect->addItems(blocks);
-
- ui->zPositionSelect->clear();
- ui->zPositionSelect->addItems(blocks);
-
- ui->pAttitudeSelect->clear();
- ui->pAttitudeSelect->addItems(blocks);
-
- ui->rAttitudeSelect->clear();
- ui->rAttitudeSelect->addItems(blocks);
-
- ui->yAttitudeSelect->clear();
- ui->yAttitudeSelect->addItems(blocks);
-
- for (ssize_t i = 0; i < blocks.size(); i++) {
- if (blocks[i].contains("setpoint", Qt::CaseInsensitive) || blocks[i].contains("sp", Qt::CaseInsensitive)) {
- if (blocks[i].contains("x ", Qt::CaseInsensitive)) {
- ui->xSetpointSelect->setCurrentIndex(i);
- }
- if (blocks[i].contains("y ", Qt::CaseInsensitive)) {
- ui->ySetpointSelect->setCurrentIndex(i);
- }
- 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")) {
- ui->pAttitudeSelect->setCurrentIndex(i);
- }
-
- if (blocks[i] == QString("Roll")) {
- ui->rAttitudeSelect->setCurrentIndex(i);
- }
-
- if (blocks[i] == QString("Yaw")) {
- ui->yAttitudeSelect->setCurrentIndex(i);
- }
-
- if (blocks[i] == QString("Lidar")) {
- ui->zPositionSelect->setCurrentIndex(i);
- }
-
- if (blocks[i] == QString("OF X Trim Add")) {
- ui->xPositionSelect->setCurrentIndex(i);
- }
-
- if (blocks[i] == QString("OF Y Trim Add")) {
- ui->yPositionSelect->setCurrentIndex(i);
- }
- }
-}
-
-void MainWindow::newNodeOutput(QString node, float val)
-{
- /* Update the nav page if quad is set as the source for pos/att */
- if (node == ui->xPositionSelect->currentText()) {
- ui->xActual->setText(QString::number(val));
- } else if (node == ui->yPositionSelect->currentText()) {
- ui->yActual->setText(QString::number(val));
- } else if (node == ui->zPositionSelect->currentText()) {
- ui->zActual->setText(QString::number(val));
- } else if (node == ui->pAttitudeSelect->currentText()) {
- ui->pitchActual->setText(QString::number(val));
- } else if (node == ui->rAttitudeSelect->currentText()) {
- ui->rollActual->setText(QString::number(val));
- } else if (node == ui->yAttitudeSelect->currentText()) {
- ui->yawActual->setText(QString::number(val));
- }
-}
-
-void MainWindow::newParams(QStringList params)
-{
- QComboBox * select = ui->paramSelect;
- select->clear();
- select->addItems(params);
-}
-
-void MainWindow::newParamValue(QString node, QString param, float val)
-{
- ui->paramValue->setText(QString::number(val));
-
- /* Update the nav page setpoints if it's a setpoint paramvalue */
- if (node == ui->xSetpointSelect->currentText()) {
- ui->xSetpoint->setText(QString::number(val));
- } else if (node == ui->ySetpointSelect->currentText()) {
- ui->ySetpoint->setText(QString::number(val));
- } else if (node == ui->zSetpointSelect->currentText()) {
- ui->zSetpoint->setText(QString::number(val));
- }
-}
-
-void MainWindow::on_paramSelect_currentIndexChanged(const QString &arg1)
-{
- emit(getParamValue(ui->nodeSelect->currentText(), arg1));
-}
-
-void MainWindow::on_paramValue_returnPressed()
-{
- emit (setParamValue(ui->nodeSelect->currentText(),
- ui->paramSelect->currentText(),
- ui->paramValue->text().toFloat()));
-}
-
-void MainWindow::sendSetpoints()
-{
- if (ui->sendX->isChecked()) {
- sp_x = ui->xSetpoint->text().toFloat();
- emit (setParamValue(ui->xSetpointSelect->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
- }
-
- if (ui->sendY->isChecked()) {
- sp_y = ui->ySetpoint->text().toFloat();
- emit (setParamValue(ui->ySetpointSelect->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
- }
-
- 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()
-{
- QString str("[" + ui->xSetpoint->text() + ", "+
- ui->ySetpoint->text() + ", " +
- ui->zSetpoint->text() + ", " +
- ui->yawSetpoint->text() + "]");
-
- setpointList->appendRow(new QStandardItem(str));
-}
-
-void MainWindow::on_pbNextSetpoint_clicked()
-{
- QListView * listView = ui->setpointList;
- if (listView->currentIndex().isValid() && setpointList->index(listView->currentIndex().row() + 1, 0).isValid()) {
- listView->setCurrentIndex(setpointList->index(listView->currentIndex().row() + 1, 0));
- } else {
- listView->setCurrentIndex(setpointList->index(0, 0));
- }
- sendSelectedSetpoint();
-}
-
-
-void MainWindow::sendSelectedSetpoint()
-{
- if (ui->setpointList->currentIndex().isValid()) {
- 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();
- }
-}
-
-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()
-{
- if (ui->setpointList->currentIndex().isValid()) {
- setpointList->removeRow(ui->setpointList->currentIndex().row());
- }
-}
-
-void MainWindow::newControlGraph(QString graph)
-{
- ui->graphImage->setPixmap(QPixmap(graph));
-}
-
-void MainWindow::on_pbActualToWaypoint_clicked()
-{
- QString str("[" + ui->xActual->text() + ", "+
- ui->yActual->text() + ", " +
- ui->zActual->text() + ", " +
- ui->yawActual->text() + "]");
-
- setpointList->appendRow(new QStandardItem(str));
-}
-
-void MainWindow::on_pbMoveUp_clicked()
-{
- if (ui->setpointList->currentIndex().isValid()) {
- int current = ui->setpointList->currentIndex().row();
- if (current > 0) {
- setpointList->insertRow(current - 1, setpointList->takeItem(current));
- setpointList->removeRow(current + 1);
- }
- }
-}
-
-void MainWindow::on_pbMoveDown_clicked()
-{
- if (ui->setpointList->currentIndex().isValid()) {
- int current = ui->setpointList->currentIndex().row();
- if (current < (setpointList->rowCount() - 1)) {
- setpointList->insertRow(current + 2, setpointList->takeItem(current));
- setpointList->removeRow(current);
- }
- }
-}
-
-void MainWindow::on_pbInsertSetpoint_clicked()
-{
- int current = 0;
- if (ui->setpointList->currentIndex().isValid()) {
- current = ui->setpointList->currentIndex().row();
- }
-
- QString str("[" + ui->xSetpoint->text() + ", "+
- ui->ySetpoint->text() + ", " +
- ui->zSetpoint->text() + ", " +
- ui->yawSetpoint->text() + "]");
- setpointList->insertRow(current, new QStandardItem(str));
-}
-
-void MainWindow::on_pbSaveWaypoints_clicked()
-{
- QString filter = "Waypoints (*.wpt)";
- QString savePath = QFileDialog::getSaveFileName(this, tr("Save waypoint"), QString(), filter, &filter, QFileDialog::DontUseNativeDialog);
-
- if (!savePath.isEmpty()) {
- QFileInfo finfo(savePath);
- if (finfo.suffix().isNull())
- savePath.append(".wpt");
- QFile f(savePath);
- f.open(QIODevice::WriteOnly | QIODevice::Text);
- for (int i= 0; i < setpointList->rowCount(); i++) {
- f.write(setpointList->item(i)->text().toStdString().c_str());
- f.write("\n");
- }
- f.close();
- }
-}
-
-void MainWindow::on_pbLoadWaypoints_clicked()
-{
-
- QString filter = "Waypoints (*.wpt)";
- QString openPath = QFileDialog::getOpenFileName(this, tr("Open Waypoint File"), QString(),filter);
-
- if (!openPath.isEmpty()) {
- QFile f(openPath);
- f.open(QIODevice::ReadOnly | QIODevice::Text);
-
- setpointList->clear();
- while (!f.atEnd()) {
- QString line = f.readLine();
- line.chop(1);
- setpointList->appendRow(new QStandardItem(line));
- }
- f.close();
- }
-}
-
-void Mainwindow::on_update_data_request_params_button_clicked()
-{
- QString text = "testing button pressing";
- ui->flight_data_labelsetText(text);
-}
-
-void MainWindow::on_xSetpoint_returnPressed()
-{
- sp_x = ui->xSetpoint->text().toFloat();
- emit (setParamValue(ui->xSetpointSelect->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
-}
-
-void MainWindow::on_ySetpoint_returnPressed()
-{
- sp_y = ui->ySetpoint->text().toFloat();
- emit (setParamValue(ui->ySetpointSelect->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
-}
-
-void MainWindow::on_zSetpoint_returnPressed()
-{
- sp_z = ui->zSetpoint->text().toFloat();
- emit (setParamValue(ui->zSetpointSelect->currentText(),
- 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);
-}
-
-void MainWindow::on_posattSrcQuad_clicked()
-{
- trackerTimer->setInterval(750);
-}
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+#include <QFileDialog>
+#include <QDesktopServices>
+#include <QMessageBox>
+#include <QThread>
+#include <QTimer>
+#include <QRegExp>
+#include <QProcessEnvironment>
+#include <QPixmap>
+#include <QProcess>
+
+#include "trackerworker.h"
+#include "controlworker.h"
+#include "quaditem.h"
+#include "slotprocess.h"
+#include "qFlightInstruments.h"
+#include "graph_blocks.h"
+
+#include <iostream>
+MainWindow::MainWindow(QWidget *parent) :
+ QMainWindow(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),
+ trackerTimer(new QTimer(this)),
+ workerStartTimer(new QTimer(this)),
+ backendProcess(new QProcess(this)),
+ matlabProcess(new QProcess(this)),
+ connectedWorkers(0)
+{
+ ui->setupUi(this);
+
+ QGraphicsScene *posScene = new QGraphicsScene(this);
+ ui->posView->setScene(posScene);
+ QuadItem * posIndicator = new QuadItem();
+ posScene->addItem(posIndicator);
+
+ QGraphicsScene *attScene = new QGraphicsScene(this);
+ ui->attView->setScene(attScene);
+ QADI * attIndicator = new QADI();
+ attScene->addWidget(attIndicator);
+
+
+ workerStartTimer->setSingleShot(true);
+
+ /* Create a thread for workers */
+ QThread* workerThread = new QThread(this);
+
+ /* Create a worker to update the tracker */
+ TrackerWorker * trackerWorker = new TrackerWorker();
+
+ /* Move it to the worker thread. This means that slots of this worker
+ * will run in the worker thread, and not block the UI */
+ trackerWorker->moveToThread(workerThread);
+
+ /* Connect tracker worker */
+ connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
+ this, SLOT (updateTracker(float, float, float, float, float, float)));
+
+ connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
+ posIndicator, SLOT(updatePos(float,float,float,float,float,float)));
+
+ connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
+ attIndicator, SLOT(updateAttitude(float, float, float, float, float, float)));
+
+ backendProcess->setProcessChannelMode(QProcess::MergedChannels);
+
+ /* Create another worker for the control graph */
+ QThread * cwThread = new QThread(this);
+ ControlWorker * controlWorker = new ControlWorker();
+ controlWorker->moveToThread(cwThread);
+
+ /* Connect signals from control worker */
+ connect(controlWorker, SIGNAL (gotNodes(QStringList)), this, SLOT (newNodes(QStringList)));
+ connect(controlWorker, SIGNAL (gotParams(QStringList)), this, SLOT (newParams(QStringList)));
+ connect(controlWorker, SIGNAL (gotParamValue(QString, QString, float)), this, SLOT (newParamValue(QString, QString, float)));
+ connect(controlWorker, SIGNAL (gotNodeOutput(QString, float)), this, SLOT (newNodeOutput(QString, float)));
+ connect(controlWorker, SIGNAL (gotConstantBlocks(QStringList)), this, SLOT (newConstantBlocks(QStringList)));
+ connect(controlWorker, SIGNAL (graphRendered(QString)), this, SLOT (newControlGraph(QString)));
+ connect(controlWorker, SIGNAL (paramSet(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
+
+ /* Signals to control worker */
+ connect(ui->pbControlRefresh, SIGNAL (clicked()), controlWorker, SLOT (getNodes()));
+ connect(ui->nodeSelect, SIGNAL (currentIndexChanged(QString)), controlWorker, SLOT (getParams(QString)));
+ connect(this, SIGNAL (getParamValue(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
+ connect(this, SIGNAL (setParamValue(QString, QString, float)), controlWorker, SLOT (setParamValue(QString, QString, float)));
+ connect(this, SIGNAL (getNodeOutput(QString)), controlWorker, SLOT (getNodeOutput(QString)));
+
+ /* Connect and disconnect from backend when signals emitted */
+ connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
+ connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
+ connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
+
+ connect(backendProcess, SIGNAL (started()), this, SLOT (backendStarted()));
+ connect(backendProcess, SIGNAL (errorOccurred(QProcess::ProcessError)), this, SLOT (backendError(QProcess::ProcessError)));
+ connect(backendProcess, SIGNAL (finished(int, QProcess::ExitStatus)), this, SLOT (backendFinished(int, QProcess::ExitStatus)));
+ connect(backendProcess, SIGNAL (readyReadStandardOutput()), this, SLOT (backendRead()));
+ connect(backendProcess, SIGNAL (readyReadStandardError()), this, SLOT (backendRead()));
+
+ connect(controlWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
+ connect(controlWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
+
+ connect(trackerWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
+ connect(trackerWorker, 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()));
+
+ connect(this, SIGNAL(getPosAttFromBackend()), trackerWorker, SLOT(process()));
+
+ /* Timer used for next setpoint */
+ nextSpTimer->setSingleShot(true);
+ connect(nextSpTimer, SIGNAL (timeout()), this, SLOT (on_pbNextSetpoint_clicked()));
+
+ /* Start the things */
+ trackerTimer->start(100);
+ workerThread->start();
+ cwThread->start();
+ matlabProcess->start();
+
+ /* Connect the setpointlist to the model */
+ ui->setpointList->setModel(setpointList);
+
+ /* Connect various things that can result in sending setpoints */
+ connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints()));
+ connect(ui->setpointList, SIGNAL (doubleClicked(QModelIndex)), this, SLOT (sendSelectedSetpoint()));
+
+ /* Populate scripts list */
+ QDir scriptsDir("scripts/");
+ QStringList scripts = scriptsDir.entryList();
+ for (int i = 0; i < scripts.size(); i++) {
+ QAction * action = ui->menuScripts->addAction(scripts[i]);
+ SlotProcess * scriptProcess = new SlotProcess(action);
+ scriptProcess->setProgram(scriptsDir.filePath(scripts[i]));
+ connect(action, SIGNAL (triggered()), scriptProcess, SLOT (startProcess()));
+ }
+
+}
+
+MainWindow::~MainWindow()
+{
+ delete ui;
+}
+
+void MainWindow::connectMatlab()
+{
+
+}
+
+void MainWindow::on_run_data_analysis_button_clicked()
+{
+ QProcess * matProcess = new QProcess(this);
+ QString matlab = "/usr/local/bin/matlab";
+ matProcess->start(matlab, QStringList() << QString("-nodesktop")<< QString("-nosplash")<<QString("-r")<<QString("run('../../../controls/DataAnalysisTool/Tool/GUI.m');"));
+}
+
+void MainWindow::updatePosAtt()
+{
+ if (ui->posattSrcVrpn->isChecked()) {
+ emit(getPosAttFromBackend());
+ } else if (ui->posattSrcQuad->isChecked()) {
+ emit(getNodeOutput(ui->xPositionSelect->currentText()));
+ emit(getNodeOutput(ui->yPositionSelect->currentText()));
+ emit(getNodeOutput(ui->zPositionSelect->currentText()));
+ emit(getNodeOutput(ui->pAttitudeSelect->currentText()));
+ emit(getNodeOutput(ui->rAttitudeSelect->currentText()));
+ emit(getNodeOutput(ui->yAttitudeSelect->currentText()));
+ }
+}
+
+void MainWindow::updateTracker(float x, float y, float z, float p, float r, float yaw)
+{
+ ui->xActual->setText(QString::number(x));
+ ui->yActual->setText(QString::number(y));
+ ui->zActual->setText(QString::number(z));
+ ui->pitchActual->setText(QString::number(p));
+ ui->rollActual->setText(QString::number(r));
+ ui->yawActual->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));
+
+ ui->dist->setText(QString::number(dist));
+
+ if (!nextSpTimer->isActive() && ui->autonavEnabled->isChecked() &&
+ (dist < ui->autonavThreshold->text().toFloat())) {
+ nextSpTimer->start(ui->autonavDelay->text().toInt());
+ }
+}
+
+void MainWindow::on_pbStart_clicked()
+{
+ backendProcess->setProgram(ui->backendPath->text());
+
+ backendProcess->start();
+}
+
+void MainWindow::backendStarted()
+{
+ ui->pbStart->setEnabled(false);
+ ui->pbStop->setEnabled(true);
+ workerStartTimer->start(750);
+}
+
+void MainWindow::backendError(QProcess::ProcessError error)
+{
+ ui->vConsole->append(backendProcess->errorString());
+}
+
+void MainWindow::backendRead()
+{
+ ui->vConsole->append(backendProcess->readAll());
+}
+
+void MainWindow::workerConnected()
+{
+ connectedWorkers++;
+ if (connectedWorkers == 2) {
+ ui->pbStart->setEnabled(false);
+ ui->pbConnect->setEnabled(false);
+ ui->pbStop->setEnabled(true);
+ }
+}
+
+void MainWindow::workerDisconnected()
+{
+ connectedWorkers--;
+ if (( connectedWorkers == 0) && (backendProcess->state() == QProcess::Running)) {
+ backendProcess->terminate();
+ } else if (connectedWorkers == 0) {
+ ui->pbStart->setEnabled(true);
+ ui->pbConnect->setEnabled(true);
+ ui->pbStop->setEnabled(false);
+ }
+}
+
+void MainWindow::backendFinished(int exitCode, QProcess::ExitStatus exitStatus)
+{
+ ui->pbStart->setEnabled(true);
+ ui->pbConnect->setEnabled(true);
+ ui->pbStop->setEnabled(false);
+}
+
+void MainWindow::on_pbConnect_clicked()
+{
+ emit(connectWorkers());
+}
+
+void MainWindow::on_pbStop_clicked()
+{
+ emit(disconnectWorkers());
+}
+
+void MainWindow::on_chooseBackend_clicked()
+{
+ QString backendPath = QFileDialog::getOpenFileName(this,
+ tr("Path to Backend Executable"));
+ ui->backendPath->setText(backendPath);
+}
+
+
+void MainWindow::newNodes(QStringList blocks)
+{
+ QComboBox * select = ui->nodeSelect;
+ select->clear();
+ select->addItems(blocks);
+
+ this->ui->noGraphWarning1->setVisible(false);
+ this->ui->noGraphWarning2->setVisible(false);
+ this->ui->noGraphWarningLine->setVisible(false);
+}
+
+void MainWindow::newConstantBlocks(QStringList blocks)
+{
+ ui->xSetpointSelect->clear();
+ ui->xSetpointSelect->addItems(blocks);
+
+ ui->ySetpointSelect->clear();
+ ui->ySetpointSelect->addItems(blocks);
+
+ ui->zSetpointSelect->clear();
+ ui->zSetpointSelect->addItems(blocks);
+
+ ui->yawSetpointSelect->clear();
+ ui->yawSetpointSelect->addItems(blocks);
+
+ ui->xPositionSelect->clear();
+ ui->xPositionSelect->addItems(blocks);
+
+ ui->yPositionSelect->clear();
+ ui->yPositionSelect->addItems(blocks);
+
+ ui->zPositionSelect->clear();
+ ui->zPositionSelect->addItems(blocks);
+
+ ui->pAttitudeSelect->clear();
+ ui->pAttitudeSelect->addItems(blocks);
+
+ ui->rAttitudeSelect->clear();
+ ui->rAttitudeSelect->addItems(blocks);
+
+ ui->yAttitudeSelect->clear();
+ ui->yAttitudeSelect->addItems(blocks);
+
+ for (ssize_t i = 0; i < blocks.size(); i++) {
+ if (blocks[i].contains("setpoint", Qt::CaseInsensitive) || blocks[i].contains("sp", Qt::CaseInsensitive)) {
+ if (blocks[i].contains("x ", Qt::CaseInsensitive)) {
+ ui->xSetpointSelect->setCurrentIndex(i);
+ }
+ if (blocks[i].contains("y ", Qt::CaseInsensitive)) {
+ ui->ySetpointSelect->setCurrentIndex(i);
+ }
+ 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")) {
+ ui->pAttitudeSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("Roll")) {
+ ui->rAttitudeSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("Yaw")) {
+ ui->yAttitudeSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("Lidar")) {
+ ui->zPositionSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("OF X Trim Add")) {
+ ui->xPositionSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("OF Y Trim Add")) {
+ ui->yPositionSelect->setCurrentIndex(i);
+ }
+ }
+}
+
+void MainWindow::newNodeOutput(QString node, float val)
+{
+ /* Update the nav page if quad is set as the source for pos/att */
+ if (node == ui->xPositionSelect->currentText()) {
+ ui->xActual->setText(QString::number(val));
+ } else if (node == ui->yPositionSelect->currentText()) {
+ ui->yActual->setText(QString::number(val));
+ } else if (node == ui->zPositionSelect->currentText()) {
+ ui->zActual->setText(QString::number(val));
+ } else if (node == ui->pAttitudeSelect->currentText()) {
+ ui->pitchActual->setText(QString::number(val));
+ } else if (node == ui->rAttitudeSelect->currentText()) {
+ ui->rollActual->setText(QString::number(val));
+ } else if (node == ui->yAttitudeSelect->currentText()) {
+ ui->yawActual->setText(QString::number(val));
+ }
+}
+
+void MainWindow::newParams(QStringList params)
+{
+ QComboBox * select = ui->paramSelect;
+ select->clear();
+ select->addItems(params);
+}
+
+void MainWindow::newParamValue(QString node, QString param, float val)
+{
+ ui->paramValue->setText(QString::number(val));
+
+ /* Update the nav page setpoints if it's a setpoint paramvalue */
+ if (node == ui->xSetpointSelect->currentText()) {
+ ui->xSetpoint->setText(QString::number(val));
+ } else if (node == ui->ySetpointSelect->currentText()) {
+ ui->ySetpoint->setText(QString::number(val));
+ } else if (node == ui->zSetpointSelect->currentText()) {
+ ui->zSetpoint->setText(QString::number(val));
+ }
+}
+
+void MainWindow::on_paramSelect_currentIndexChanged(const QString &arg1)
+{
+ emit(getParamValue(ui->nodeSelect->currentText(), arg1));
+}
+
+void MainWindow::on_paramValue_returnPressed()
+{
+ emit (setParamValue(ui->nodeSelect->currentText(),
+ ui->paramSelect->currentText(),
+ ui->paramValue->text().toFloat()));
+}
+
+void MainWindow::sendSetpoints()
+{
+ if (ui->sendX->isChecked()) {
+ sp_x = ui->xSetpoint->text().toFloat();
+ emit (setParamValue(ui->xSetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
+ }
+
+ if (ui->sendY->isChecked()) {
+ sp_y = ui->ySetpoint->text().toFloat();
+ emit (setParamValue(ui->ySetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
+ }
+
+ 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()
+{
+ QString str("[" + ui->xSetpoint->text() + ", "+
+ ui->ySetpoint->text() + ", " +
+ ui->zSetpoint->text() + ", " +
+ ui->yawSetpoint->text() + "]");
+
+ setpointList->appendRow(new QStandardItem(str));
+}
+
+void MainWindow::on_pbNextSetpoint_clicked()
+{
+ QListView * listView = ui->setpointList;
+ if (listView->currentIndex().isValid() && setpointList->index(listView->currentIndex().row() + 1, 0).isValid()) {
+ listView->setCurrentIndex(setpointList->index(listView->currentIndex().row() + 1, 0));
+ } else {
+ listView->setCurrentIndex(setpointList->index(0, 0));
+ }
+ sendSelectedSetpoint();
+}
+
+
+void MainWindow::sendSelectedSetpoint()
+{
+ if (ui->setpointList->currentIndex().isValid()) {
+ 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();
+ }
+}
+
+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()
+{
+ if (ui->setpointList->currentIndex().isValid()) {
+ setpointList->removeRow(ui->setpointList->currentIndex().row());
+ }
+}
+
+void MainWindow::newControlGraph(QString graph)
+{
+ ui->graphImage->setPixmap(QPixmap(graph));
+}
+
+void MainWindow::on_pbActualToWaypoint_clicked()
+{
+ QString str("[" + ui->xActual->text() + ", "+
+ ui->yActual->text() + ", " +
+ ui->zActual->text() + ", " +
+ ui->yawActual->text() + "]");
+
+ setpointList->appendRow(new QStandardItem(str));
+}
+
+void MainWindow::on_pbMoveUp_clicked()
+{
+ if (ui->setpointList->currentIndex().isValid()) {
+ int current = ui->setpointList->currentIndex().row();
+ if (current > 0) {
+ setpointList->insertRow(current - 1, setpointList->takeItem(current));
+ setpointList->removeRow(current + 1);
+ }
+ }
+}
+
+void MainWindow::on_pbMoveDown_clicked()
+{
+ if (ui->setpointList->currentIndex().isValid()) {
+ int current = ui->setpointList->currentIndex().row();
+ if (current < (setpointList->rowCount() - 1)) {
+ setpointList->insertRow(current + 2, setpointList->takeItem(current));
+ setpointList->removeRow(current);
+ }
+ }
+}
+
+void MainWindow::on_pbInsertSetpoint_clicked()
+{
+ int current = 0;
+ if (ui->setpointList->currentIndex().isValid()) {
+ current = ui->setpointList->currentIndex().row();
+ }
+
+ QString str("[" + ui->xSetpoint->text() + ", "+
+ ui->ySetpoint->text() + ", " +
+ ui->zSetpoint->text() + ", " +
+ ui->yawSetpoint->text() + "]");
+ setpointList->insertRow(current, new QStandardItem(str));
+}
+
+void MainWindow::on_pbSaveWaypoints_clicked()
+{
+ QString filter = "Waypoints (*.wpt)";
+ QString savePath = QFileDialog::getSaveFileName(this, tr("Save waypoint"), QString(), filter, &filter, QFileDialog::DontUseNativeDialog);
+
+ if (!savePath.isEmpty()) {
+ QFileInfo finfo(savePath);
+ if (finfo.suffix().isNull())
+ savePath.append(".wpt");
+ QFile f(savePath);
+ f.open(QIODevice::WriteOnly | QIODevice::Text);
+ for (int i= 0; i < setpointList->rowCount(); i++) {
+ f.write(setpointList->item(i)->text().toStdString().c_str());
+ f.write("\n");
+ }
+ f.close();
+ }
+}
+
+void MainWindow::on_pbLoadWaypoints_clicked()
+{
+
+ QString filter = "Waypoints (*.wpt)";
+ QString openPath = QFileDialog::getOpenFileName(this, tr("Open Waypoint File"), QString(),filter);
+
+ if (!openPath.isEmpty()) {
+ QFile f(openPath);
+ f.open(QIODevice::ReadOnly | QIODevice::Text);
+
+ setpointList->clear();
+ while (!f.atEnd()) {
+ QString line = f.readLine();
+ line.chop(1);
+ setpointList->appendRow(new QStandardItem(line));
+ }
+ f.close();
+ }
+}
+
+void MainWindow::on_xSetpoint_returnPressed()
+{
+ sp_x = ui->xSetpoint->text().toFloat();
+ emit (setParamValue(ui->xSetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
+}
+
+void MainWindow::on_ySetpoint_returnPressed()
+{
+ sp_y = ui->ySetpoint->text().toFloat();
+ emit (setParamValue(ui->ySetpointSelect->currentText(),
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
+}
+
+void MainWindow::on_zSetpoint_returnPressed()
+{
+ sp_z = ui->zSetpoint->text().toFloat();
+ emit (setParamValue(ui->zSetpointSelect->currentText(),
+ 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);
+}
+
+void MainWindow::on_posattSrcQuad_clicked()
+{
+ trackerTimer->setInterval(750);
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index db5534abe83d6d4301fe593f7db2531a591c469b..3ad5ed1da5fd958ad1f1b1a7f4c534e0ed7763d6 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -1,109 +1,113 @@
-#ifndef MAINWINDOW_H
-#define MAINWINDOW_H
-
-#include <QMainWindow>
-#include <QStringList>
-#include <QStandardItemModel>
-#include <QGraphicsScene>
-#include "quaditem.h"
-
-namespace Ui {
-class MainWindow;
-}
-
-class MainWindow : public QMainWindow
-{
- Q_OBJECT
-
-public:
- explicit MainWindow(QWidget *parent = 0);
- ~MainWindow();
-
-signals:
- void connectWorkers();
- void disconnectWorkers();
- void getParamValue(QString node, QString param);
- void getNodeOutput(QString node);
- void setParamValue(QString node, QString param, float value);
- void getPosAttFromBackend();
-
-private slots:
- void on_pbStart_clicked();
-
- void on_pbConnect_clicked();
-
- void on_pbStop_clicked();
-
- void on_chooseBackend_clicked();
-
- void updateTracker(float x, float y, float z, float p, float r, float yaw);
-
- void updatePosAtt();
-
- void newNodes(QStringList blocks);
- void newParams(QStringList params);
- void newParamValue(QString node, QString param, float val);
- void newNodeOutput(QString node, float output);
- void newConstantBlocks(QStringList blocks);
- void newControlGraph(QString graph);
-
- void on_paramSelect_currentIndexChanged(const QString &arg1);
-
- void on_paramValue_returnPressed();
-
- void on_pbAppendSetpoint_clicked();
-
- void on_pbNextSetpoint_clicked();
-
- void sendSetpoints();
- void sendSelectedSetpoint();
-
- void on_pbActualToSetpoint_clicked();
-
- void on_pbDeleteSetpoint_clicked();
-
- void on_pbActualToWaypoint_clicked();
-
- void on_pbMoveUp_clicked();
-
- void on_pbMoveDown_clicked();
-
- void on_pbInsertSetpoint_clicked();
-
- void on_pbSaveWaypoints_clicked();
-
- void on_pbLoadWaypoints_clicked();
-
- void on_xSetpoint_returnPressed();
-
- void on_ySetpoint_returnPressed();
-
- void on_zSetpoint_returnPressed();
-
- void on_posattSrcVrpn_clicked();
-
- void on_posattSrcQuad_clicked();
-
- void on_yawSetpoint_returnPressed();
-
- void backendStarted();
- void backendFinished(int exitCode, QProcess::ExitStatus exitStatus);
- void backendError(QProcess::ProcessError error);
- void backendRead();
- void workerConnected();
- void workerDisconnected();
-
-private:
- Ui::MainWindow *ui;
- QStandardItemModel * setpointList;
- QTimer * nextSpTimer;
- float sp_x;
- float sp_y;
- float sp_z;
- QTimer * trackerTimer;
- QTimer * workerStartTimer;
- QProcess * backendProcess;
- int connectedWorkers;
-};
-
-#endif // MAINWINDOW_H
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <QStringList>
+#include <QStandardItemModel>
+#include <QGraphicsScene>
+#include "quaditem.h"
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit MainWindow(QWidget *parent = 0);
+ ~MainWindow();
+
+signals:
+ void connectWorkers();
+ void disconnectWorkers();
+ void getParamValue(QString node, QString param);
+ void getNodeOutput(QString node);
+ void setParamValue(QString node, QString param, float value);
+ void getPosAttFromBackend();
+
+private slots:
+ void on_pbStart_clicked();
+
+ void on_pbConnect_clicked();
+
+ void on_pbStop_clicked();
+
+ void on_chooseBackend_clicked();
+
+ void updateTracker(float x, float y, float z, float p, float r, float yaw);
+
+ void updatePosAtt();
+
+ void newNodes(QStringList blocks);
+ void newParams(QStringList params);
+ void newParamValue(QString node, QString param, float val);
+ void newNodeOutput(QString node, float output);
+ void newConstantBlocks(QStringList blocks);
+ void newControlGraph(QString graph);
+
+ void on_paramSelect_currentIndexChanged(const QString &arg1);
+
+ void on_paramValue_returnPressed();
+
+ void on_pbAppendSetpoint_clicked();
+
+ void on_pbNextSetpoint_clicked();
+
+ void sendSetpoints();
+ void sendSelectedSetpoint();
+
+ void on_pbActualToSetpoint_clicked();
+
+ void on_pbDeleteSetpoint_clicked();
+
+ void on_pbActualToWaypoint_clicked();
+
+ void on_pbMoveUp_clicked();
+
+ void on_pbMoveDown_clicked();
+
+ void on_pbInsertSetpoint_clicked();
+
+ void on_pbSaveWaypoints_clicked();
+
+ void on_pbLoadWaypoints_clicked();
+
+ void on_xSetpoint_returnPressed();
+
+ void on_run_data_analysis_button_clicked();
+
+ void on_ySetpoint_returnPressed();
+
+ void on_zSetpoint_returnPressed();
+
+ void on_posattSrcVrpn_clicked();
+
+ void on_posattSrcQuad_clicked();
+
+ void on_yawSetpoint_returnPressed();
+
+ void backendStarted();
+ void connectMatlab();
+ void backendFinished(int exitCode, QProcess::ExitStatus exitStatus);
+ void backendError(QProcess::ProcessError error);
+ void backendRead();
+ void workerConnected();
+ void workerDisconnected();
+
+private:
+ Ui::MainWindow *ui;
+ QStandardItemModel * setpointList;
+ QTimer * nextSpTimer;
+ float sp_x;
+ float sp_y;
+ float sp_z;
+ QTimer * trackerTimer;
+ QTimer * workerStartTimer;
+ QProcess * backendProcess;
+ QProcess * matlabProcess;
+ int connectedWorkers;
+};
+
+#endif // MAINWINDOW_H
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 94d275d7031b022b7e0c907e4367cb97addf630c..a857eb3f830e1af472e52cbc99faa7c8d80f5df7 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -1,1259 +1,1148 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>MainWindow</class>
- <widget class="QMainWindow" name="MainWindow">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1186</width>
- <height>1034</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>MainWindow</string>
- </property>
- <widget class="QWidget" name="centralWidget">
- <layout class="QVBoxLayout" name="verticalLayout_4">
- <item>
- <widget class="QTabWidget" name="tabWidget">
- <property name="currentIndex">
- <number>3</number>
- </property>
- <widget class="QWidget" name="backend">
- <attribute name="title">
- <string>Backend</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_8">
- <item>
- <widget class="QLineEdit" name="backendPath">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>./BackEnd</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="chooseBackend">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Choose...</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_7">
- <item>
- <widget class="QPushButton" name="pbStart">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Start</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbConnect">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Connect</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="pbStop">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Stop/Disconnect</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_7">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QTextEdit" name="vConsole">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="controlGraph">
- <attribute name="title">
- <string>Controller Graph</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <item>
- <widget class="QScrollArea" name="scrollArea">
- <property name="widgetResizable">
- <bool>true</bool>
- </property>
- <widget class="QWidget" name="scrollAreaWidgetContents">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1144</width>
- <height>679</height>
- </rect>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_8">
- <item>
- <widget class="QLabel" name="graphImage">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>32</pointsize>
- </font>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbControlRefresh">
- <property name="text">
- <string>Refresh Controller Graph</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_6">
- <item>
- <widget class="QLabel" name="label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Node:</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="nodeSelect">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Param:</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="paramSelect"/>
- </item>
- <item>
- <widget class="QLineEdit" name="paramValue">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_5">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_4">
- <item>
- <widget class="QLabel" name="label_4">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>X Setpoint</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="xSetpointSelect">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_5">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Y Setpoint</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="ySetpointSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Z Setpoint</string>
- </property>
- </widget>
- </item>
- <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>
- <layout class="QHBoxLayout" name="horizontalLayout_10">
- <item>
- <widget class="QLabel" name="label_11">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>X Position</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="xPositionSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_13">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Y Position </string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="yPositionSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_14">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Z Position</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="zPositionSelect"/>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_11">
- <item>
- <widget class="QLabel" name="label_15">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>P Attitude</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="pAttitudeSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_16">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>R Attitude</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="rAttitudeSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_17">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Y Attitude</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="yAttitudeSelect"/>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="navigation">
- <attribute name="title">
- <string>Navigation</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_3">
- <item>
- <widget class="QLabel" name="noGraphWarning1">
- <property name="font">
- <font>
- <pointsize>32</pointsize>
- <weight>75</weight>
- <bold>true</bold>
- <underline>true</underline>
- </font>
- </property>
- <property name="styleSheet">
- <string notr="true">QLabel {color : red; }</string>
- </property>
- <property name="text">
- <string>NO CONTROL GRAPH LOADED!</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="noGraphWarning2">
- <property name="text">
- <string>These controls won't work right unless the correct control graph is loaded.</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="noGraphWarningLine">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_9">
- <item>
- <widget class="QLabel" name="label_12">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Position/Attitude Source: </string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="posattSrcVrpn">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Backend Tracker (&VRPN)</string>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="posattSrcQuad">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>From &Quad</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_3">
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_7">
- <item>
- <widget class="QLabel" name="label_6">
- <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="xLabel">
- <property name="text">
- <string>X</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="xActual">
- <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="1" column="0">
- <widget class="QLabel" name="yLabel">
- <property name="text">
- <string>Y</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="yActual">
- <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="zLabel">
- <property name="text">
- <string>Z</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="zActual">
- <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="3" column="0">
- <widget class="QLabel" name="pLabel">
- <property name="text">
- <string>P</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="pitchActual">
- <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="4" column="0">
- <widget class="QLabel" name="rLabel">
- <property name="text">
- <string>R</string>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="rollActual">
- <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="5" column="0">
- <widget class="QLabel" name="yLabel_2">
- <property name="text">
- <string>Y</string>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QLineEdit" name="yawActual">
- <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>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_6">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QFormLayout" name="formLayout_5">
- <item row="0" column="1">
- <widget class="QLineEdit" name="dist">
- <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="0" column="0">
- <widget class="QLabel" name="label_10">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>D</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_5"/>
- </item>
- <item>
- <widget class="QPushButton" name="pbActualToSetpoint">
- <property name="text">
- <string>To Setpoint</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbActualToWaypoint">
- <property name="text">
- <string>To Waypoint</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_4">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_5">
- <item>
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>Position Setpoints</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QFormLayout" name="formLayout_2">
- <item row="0" column="0">
- <widget class="QLabel" name="setpointLabel">
- <property name="text">
- <string>X</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="setpointLabel_3">
- <property name="text">
- <string>Z</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="setpointLabel_2">
- <property name="text">
- <string>Y</string>
- </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>
- <widget class="QPushButton" name="pbSendSetpoint">
- <property name="text">
- <string>Send to Quad</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_3">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbAppendSetpoint">
- <property name="text">
- <string>Append</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbInsertSetpoint">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Insert</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbDeleteSetpoint">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Delete</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_3">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_6">
- <item>
- <widget class="QLabel" name="label_8">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Waypoints</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QListView" name="setpointList">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="editTriggers">
- <set>QAbstractItemView::NoEditTriggers</set>
- </property>
- <property name="dragEnabled">
- <bool>false</bool>
- </property>
- <property name="dragDropOverwriteMode">
- <bool>false</bool>
- </property>
- <property name="dragDropMode">
- <enum>QAbstractItemView::NoDragDrop</enum>
- </property>
- <property name="defaultDropAction">
- <enum>Qt::MoveAction</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbNextSetpoint">
- <property name="text">
- <string>Send Next</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QPushButton" name="pbMoveUp">
- <property name="text">
- <string>Move Up</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbMoveDown">
- <property name="text">
- <string>Move Down</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QPushButton" name="pbSaveWaypoints">
- <property name="text">
- <string>Save</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbLoadWaypoints">
- <property name="text">
- <string>Load</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_4">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="autonavEnabled">
- <property name="text">
- <string>Enable Autonavigation</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QFormLayout" name="formLayout_6">
- <item row="0" column="0">
- <widget class="QLabel" name="label_9">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Threshold</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="delayLabel">
- <property name="text">
- <string>Delay</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="autonavThreshold">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>0.1</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="autonavDelay">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>88</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_9">
- <item>
- <widget class="QGraphicsView" name="posView">
- <property name="verticalScrollBarPolicy">
- <enum>Qt::ScrollBarAlwaysOff</enum>
- </property>
- <property name="horizontalScrollBarPolicy">
- <enum>Qt::ScrollBarAlwaysOff</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QGraphicsView" name="attView"/>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QPushButton" name="pbRefresh">
- <property name="text">
- <string>Refresh</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab">
- <attribute name="title">
- <string>Flight Data</string>
- </attribute>
- <widget class="QWidget" name="horizontalLayoutWidget">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>1141</width>
- <height>91</height>
- </rect>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_16">
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_12">
- <item>
- <widget class="QRadioButton" name="camera_fd_button">
- <property name="text">
- <string>Camera Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="gyro_fd_button">
- <property name="text">
- <string>Gyro Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="accelerometer_fd_button">
- <property name="text">
- <string>Accelerometer Data</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_11">
- <item>
- <widget class="QRadioButton" name="lidar_fd_button">
- <property name="text">
- <string>Lidar Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="opflow_fd_button">
- <property name="text">
- <string>Optical Flow Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="gps_data_button">
- <property name="text">
- <string>GPS Data</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_10">
- <item>
- <widget class="QRadioButton" name="pid_fd_button">
- <property name="text">
- <string>PID Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="rctrans_fd_button">
- <property name="text">
- <string>RC TRANS Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="actuator_fd_button">
- <property name="text">
- <string>Actuator Data</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <widget class="QPushButton" name="update_data_request_params_button">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>100</y>
- <width>1141</width>
- <height>28</height>
- </rect>
- </property>
- <property name="text">
- <string>Update Data Request Parameters</string>
- </property>
- </widget>
- <widget class="QLabel" name="flight_data_label">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>140</y>
- <width>1141</width>
- <height>761</height>
- </rect>
- </property>
- <property name="font">
- <font>
- <pointsize>32</pointsize>
- <weight>75</weight>
- <bold>true</bold>
- <underline>true</underline>
- </font>
- </property>
- <property name="text">
- <string>INSERT FLIGHT DATA GRAPHS HERE</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </widget>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QMenuBar" name="menuBar">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1186</width>
- <height>28</height>
- </rect>
- </property>
- <widget class="QMenu" name="menuScripts">
- <property name="title">
- <string>Scripts</string>
- </property>
- </widget>
- <addaction name="menuScripts"/>
- </widget>
- <widget class="QToolBar" name="mainToolBar">
- <attribute name="toolBarArea">
- <enum>TopToolBarArea</enum>
- </attribute>
- <attribute name="toolBarBreak">
- <bool>false</bool>
- </attribute>
- </widget>
- <widget class="QStatusBar" name="statusBar"/>
- </widget>
- <layoutdefault spacing="6" margin="11"/>
- <resources/>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1186</width>
+ <height>1034</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>MainWindow</string>
+ </property>
+ <widget class="QWidget" name="centralWidget">
+ <layout class="QVBoxLayout" name="verticalLayout_4">
+ <item>
+ <widget class="QTabWidget" name="tabWidget">
+ <property name="currentIndex">
+ <number>3</number>
+ </property>
+ <widget class="QWidget" name="backend">
+ <attribute name="title">
+ <string>Backend</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <widget class="QLineEdit" name="backendPath">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>./BackEnd</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="chooseBackend">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Choose...</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <widget class="QPushButton" name="pbStart">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Start</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbConnect">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Connect</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbStop">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Stop/Disconnect</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_7">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QTextEdit" name="vConsole">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="controlGraph">
+ <attribute name="title">
+ <string>Controller Graph</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QScrollArea" name="scrollArea">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="QWidget" name="scrollAreaWidgetContents">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1142</width>
+ <height>749</height>
+ </rect>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_8">
+ <item>
+ <widget class="QLabel" name="graphImage">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>32</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbControlRefresh">
+ <property name="text">
+ <string>Refresh Controller Graph</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Node:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="nodeSelect">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Param:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="paramSelect"/>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="paramValue">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_5">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <item>
+ <widget class="QLabel" name="label_4">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>X Setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="xSetpointSelect">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Y Setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="ySetpointSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Z Setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <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>
+ <layout class="QHBoxLayout" name="horizontalLayout_10">
+ <item>
+ <widget class="QLabel" name="label_11">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>X Position</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="xPositionSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_13">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Y Position </string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="yPositionSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_14">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Z Position</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="zPositionSelect"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_11">
+ <item>
+ <widget class="QLabel" name="label_15">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>P Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="pAttitudeSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_16">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>R Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="rAttitudeSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_17">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Y Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="yAttitudeSelect"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="navigation">
+ <attribute name="title">
+ <string>Navigation</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_3">
+ <item>
+ <widget class="QLabel" name="noGraphWarning1">
+ <property name="font">
+ <font>
+ <pointsize>32</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ <underline>true</underline>
+ </font>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QLabel {color : red; }</string>
+ </property>
+ <property name="text">
+ <string>NO CONTROL GRAPH LOADED!</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="noGraphWarning2">
+ <property name="text">
+ <string>These controls won't work right unless the correct control graph is loaded.</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="noGraphWarningLine">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_9">
+ <item>
+ <widget class="QLabel" name="label_12">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Position/Attitude Source: </string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="posattSrcVrpn">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Backend Tracker (&VRPN)</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="posattSrcQuad">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>From &Quad</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_7">
+ <item>
+ <widget class="QLabel" name="label_6">
+ <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="xLabel">
+ <property name="text">
+ <string>X</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="xActual">
+ <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="1" column="0">
+ <widget class="QLabel" name="yLabel">
+ <property name="text">
+ <string>Y</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="yActual">
+ <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="zLabel">
+ <property name="text">
+ <string>Z</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="zActual">
+ <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="3" column="0">
+ <widget class="QLabel" name="pLabel">
+ <property name="text">
+ <string>P</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="pitchActual">
+ <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="4" column="0">
+ <widget class="QLabel" name="rLabel">
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="rollActual">
+ <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="5" column="0">
+ <widget class="QLabel" name="yLabel_2">
+ <property name="text">
+ <string>Y</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLineEdit" name="yawActual">
+ <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>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_6">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_5">
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="dist">
+ <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="0" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>D</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_5"/>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbActualToSetpoint">
+ <property name="text">
+ <string>To Setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbActualToWaypoint">
+ <property name="text">
+ <string>To Waypoint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_4">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_5">
+ <item>
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>Position Setpoints</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_2">
+ <item row="0" column="0">
+ <widget class="QLabel" name="setpointLabel">
+ <property name="text">
+ <string>X</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="setpointLabel_3">
+ <property name="text">
+ <string>Z</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="setpointLabel_2">
+ <property name="text">
+ <string>Y</string>
+ </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>
+ <widget class="QPushButton" name="pbSendSetpoint">
+ <property name="text">
+ <string>Send to Quad</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line_3">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbAppendSetpoint">
+ <property name="text">
+ <string>Append</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbInsertSetpoint">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Insert</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbDeleteSetpoint">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Delete</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_6">
+ <item>
+ <widget class="QLabel" name="label_8">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Waypoints</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QListView" name="setpointList">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="editTriggers">
+ <set>QAbstractItemView::NoEditTriggers</set>
+ </property>
+ <property name="dragEnabled">
+ <bool>false</bool>
+ </property>
+ <property name="dragDropOverwriteMode">
+ <bool>false</bool>
+ </property>
+ <property name="dragDropMode">
+ <enum>QAbstractItemView::NoDragDrop</enum>
+ </property>
+ <property name="defaultDropAction">
+ <enum>Qt::MoveAction</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbNextSetpoint">
+ <property name="text">
+ <string>Send Next</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QPushButton" name="pbMoveUp">
+ <property name="text">
+ <string>Move Up</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbMoveDown">
+ <property name="text">
+ <string>Move Down</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QPushButton" name="pbSaveWaypoints">
+ <property name="text">
+ <string>Save</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbLoadWaypoints">
+ <property name="text">
+ <string>Load</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_4">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="autonavEnabled">
+ <property name="text">
+ <string>Enable Autonavigation</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_6">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_9">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Threshold</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="delayLabel">
+ <property name="text">
+ <string>Delay</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="autonavThreshold">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="autonavDelay">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>88</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_9">
+ <item>
+ <widget class="QGraphicsView" name="posView">
+ <property name="verticalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOff</enum>
+ </property>
+ <property name="horizontalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOff</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGraphicsView" name="attView"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbRefresh">
+ <property name="text">
+ <string>Refresh</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab">
+ <attribute name="title">
+ <string>Flight Data</string>
+ </attribute>
+ <widget class="QPushButton" name="run_data_analysis_button">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1141</width>
+ <height>28</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Run Data Analysis</string>
+ </property>
+ </widget>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QMenuBar" name="menuBar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1186</width>
+ <height>21</height>
+ </rect>
+ </property>
+ <widget class="QMenu" name="menuScripts">
+ <property name="title">
+ <string>Scripts</string>
+ </property>
+ </widget>
+ <addaction name="menuScripts"/>
+ </widget>
+ <widget class="QToolBar" name="mainToolBar">
+ <attribute name="toolBarArea">
+ <enum>TopToolBarArea</enum>
+ </attribute>
+ <attribute name="toolBarBreak">
+ <bool>false</bool>
+ </attribute>
+ </widget>
+ <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>