diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 0867aa4ae92c0330eae276d961c7e882494b0af7..50bf00022aaab872e8e8391376d259672a1ccdef 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -99,12 +99,12 @@ void MainWindow::updateConsole()
void MainWindow::updateTracker(float x, float y, float z, float p, float r, float yaw)
{
- findChild<QLineEdit *>("xLineEdit")->setText(QString::number(x));
- findChild<QLineEdit *>("yLineEdit")->setText(QString::number(y));
- findChild<QLineEdit *>("zLineEdit")->setText(QString::number(z));
- findChild<QLineEdit *>("pLineEdit")->setText(QString::number(p));
- findChild<QLineEdit *>("rLineEdit")->setText(QString::number(r));
- findChild<QLineEdit *>("yLineEdit_2")->setText(QString::number(yaw));
+ findChild<QLineEdit *>("xActual")->setText(QString::number(x));
+ findChild<QLineEdit *>("yActual")->setText(QString::number(y));
+ findChild<QLineEdit *>("zActual")->setText(QString::number(z));
+ findChild<QLineEdit *>("pitchActual")->setText(QString::number(p));
+ findChild<QLineEdit *>("rollActual")->setText(QString::number(r));
+ findChild<QLineEdit *>("yawActual")->setText(QString::number(yaw));
}
void MainWindow::on_pbStart_clicked()
@@ -266,3 +266,10 @@ void MainWindow::sendSelectedSetpoint()
sendSetpoints();
}
}
+
+void MainWindow::on_pbActualToSetpoint_clicked()
+{
+ findChild<QLineEdit *>("xSetpoint")->setText(findChild<QLineEdit *>("xActual")->text());
+ findChild<QLineEdit *>("ySetpoint")->setText(findChild<QLineEdit *>("yActual")->text());
+ findChild<QLineEdit *>("zSetpoint")->setText(findChild<QLineEdit *>("zActual")->text());
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index d59e10f03f63b3cbb39b1fc17d2381a5331e645f..f2a4f033dffc6dba4d7ab08edb18cccefc53aeaa 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -52,6 +52,8 @@ private slots:
void sendSetpoints();
void sendSelectedSetpoint();
+ void on_pbActualToSetpoint_clicked();
+
private:
Ui::MainWindow *ui;
pid_t backendPid;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index c22a9fccfaa2e2732c2a01f59f83d90f7b86e15f..4b8d17a6e102a5ed6e4530ab567aa249acf4e451 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -271,7 +271,7 @@
</item>
</layout>
</widget>
- <widget class="QWidget" name="status">
+ <widget class="QWidget" name="navigation">
<attribute name="title">
<string>Navigation</string>
</attribute>
@@ -279,140 +279,184 @@
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<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="xLineEdit">
- <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="yLineEdit">
- <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="zLineEdit">
- <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="pLineEdit">
- <property name="enabled">
- <bool>false</bool>
- </property>
+ <layout class="QVBoxLayout" name="verticalLayout_7">
+ <item>
+ <widget class="QLabel" name="label_6">
<property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<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>
+ <string>Current Position</string>
</property>
</widget>
</item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="rLineEdit">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item>
+ <layout class="QFormLayout" name="formLayout">
+ <property name="fieldGrowthPolicy">
+ <enum>QFormLayout::ExpandingFieldsGrow</enum>
</property>
- </widget>
+ <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 row="5" column="0">
- <widget class="QLabel" name="yLabel_2">
+ <item>
+ <widget class="QPushButton" name="pbActualToSetpoint">
<property name="text">
- <string>Y</string>
+ <string>To Setpoint</string>
</property>
</widget>
</item>
- <item row="5" column="1">
- <widget class="QLineEdit" name="yLineEdit_2">
- <property name="enabled">
- <bool>false</bool>
+ <item>
+ <spacer name="verticalSpacer_4">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
</property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
</property>
- </widget>
+ </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>Setpoint</string>
+ <string>X</string>
</property>
</widget>
</item>
@@ -426,13 +470,6 @@
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLabel" name="setpointLabel_2">
- <property name="text">
- <string>Setpoint</string>
- </property>
- </widget>
- </item>
<item row="1" column="1">
<widget class="QLineEdit" name="ySetpoint">
<property name="sizePolicy">
@@ -443,13 +480,6 @@
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QLabel" name="setpointLabel_3">
- <property name="text">
- <string>Setpoint</string>
- </property>
- </widget>
- </item>
<item row="2" column="1">
<widget class="QLineEdit" name="zSetpoint">
<property name="sizePolicy">
@@ -460,6 +490,20 @@
</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>
</layout>
</item>
<item>
@@ -513,6 +557,13 @@
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_6">
+ <item>
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>Saved Setpoints</string>
+ </property>
+ </widget>
+ </item>
<item>
<widget class="QListView" name="setpointList">
<property name="editTriggers">