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Commit bf5bd1f7 authored by Jake's avatar Jake
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Added yaw setpoint

parent 3a6430d2
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groundStation/gui/MicroCART/mainwindow.cpp
+ 43
− 14
View file @ bf5bd1f7
......@@ -195,6 +195,9 @@ void MainWindow::newConstantBlocks(QStringList blocks)
ui->zSetpointSelect->clear();
ui->zSetpointSelect->addItems(blocks);
ui->yawSetpointSelect->clear();
ui->yawSetpointSelect->addItems(blocks);
ui->xPositionSelect->clear();
ui->xPositionSelect->addItems(blocks);
......@@ -224,6 +227,9 @@ void MainWindow::newConstantBlocks(QStringList blocks)
if (blocks[i].contains("z ", Qt::CaseInsensitive) || blocks[i].contains("alt", Qt::CaseInsensitive)) {
ui->zSetpointSelect->setCurrentIndex(i);
}
if (blocks[i].contains("yaw", Qt::CaseInsensitive) || blocks[i].contains("alt", Qt::CaseInsensitive)) {
ui->yawSetpointSelect->setCurrentIndex(i);
}
}
if (blocks[i] == QString("Pitch")) {
......@@ -305,17 +311,29 @@ void MainWindow::on_paramValue_returnPressed()
void MainWindow::sendSetpoints()
{
sp_x = ui->xSetpoint->text().toFloat();
emit (setParamValue(ui->xSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
if (ui->sendX->isChecked()) {
sp_x = ui->xSetpoint->text().toFloat();
emit (setParamValue(ui->xSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
}
sp_y = ui->ySetpoint->text().toFloat();
emit (setParamValue(ui->ySetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
if (ui->sendY->isChecked()) {
sp_y = ui->ySetpoint->text().toFloat();
emit (setParamValue(ui->ySetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
}
sp_z = ui->zSetpoint->text().toFloat();
emit (setParamValue(ui->zSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
if (ui->sendZ->isChecked()) {
sp_z = ui->zSetpoint->text().toFloat();
emit (setParamValue(ui->zSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
}
if (ui->sendYaw->isChecked()) {
emit (setParamValue(ui->yawSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0],
ui->yawSetpoint->text().toFloat()));
}
}
void MainWindow::on_pbAppendSetpoint_clicked()
......@@ -342,13 +360,14 @@ void MainWindow::on_pbNextSetpoint_clicked()
void MainWindow::sendSelectedSetpoint()
{
if (ui->setpointList->currentIndex().isValid()) {
QRegExp regex("\\[(.*), (.*), (.*)\\]");
QRegExp regex("\\[(.*), (.*), (.*), (.*)\\]");
int row = ui->setpointList->currentIndex().row();
regex.indexIn(setpointList->item(row)->text());
ui->xSetpoint->setText(regex.cap(1));
ui->ySetpoint->setText(regex.cap(2));
ui->zSetpoint->setText(regex.cap(3));
ui->yawSetpoint->setText(regex.cap(4));
sendSetpoints();
}
......@@ -359,6 +378,7 @@ void MainWindow::on_pbActualToSetpoint_clicked()
ui->xSetpoint->setText(ui->xActual->text());
ui->ySetpoint->setText(ui->yActual->text());
ui->zSetpoint->setText(ui->zActual->text());
ui->yawSetpoint->setText(ui->yawActual->text());
}
void MainWindow::on_pbDeleteSetpoint_clicked()
......@@ -376,8 +396,9 @@ void MainWindow::newControlGraph(QString graph)
void MainWindow::on_pbActualToWaypoint_clicked()
{
QString str("[" + ui->xActual->text() + ", "+
ui->yActual->text() + ", " +
ui->zActual->text() + "]");
ui->yActual->text() + ", " +
ui->zActual->text() + ", " +
ui->yawActual->text() + "]");
setpointList->appendRow(new QStandardItem(str));
}
......@@ -412,8 +433,9 @@ void MainWindow::on_pbInsertSetpoint_clicked()
}
QString str("[" + ui->xSetpoint->text() + ", "+
ui->ySetpoint->text() + ", " +
ui->zSetpoint->text() + "]");
ui->ySetpoint->text() + ", " +
ui->zSetpoint->text() + ", " +
ui->yawSetpoint->text() + "]");
setpointList->insertRow(current, new QStandardItem(str));
}
......@@ -480,6 +502,13 @@ void MainWindow::on_zSetpoint_returnPressed()
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
}
void MainWindow::on_yawSetpoint_returnPressed()
{
emit (setParamValue(ui->yawSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0],
ui->yawSetpoint->text().toFloat()));
}
void MainWindow::on_posattSrcVrpn_clicked()
{
trackerTimer->setInterval(100);
......
groundStation/gui/MicroCART/mainwindow.h
+ 2
− 0
View file @ bf5bd1f7
......@@ -86,6 +86,8 @@ private slots:
void on_posattSrcQuad_clicked();
void on_yawSetpoint_returnPressed();
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
......
groundStation/gui/MicroCART/mainwindow.ui
+ 119
− 30
View file @ bf5bd1f7
......@@ -322,6 +322,22 @@
<item>
<widget class="QComboBox" name="zSetpointSelect"/>
</item>
<item>
<widget class="QLabel" name="label_18">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Yaw Setpoint:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="yawSetpointSelect"/>
</item>
</layout>
</item>
<item>
......@@ -750,36 +766,6 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="xSetpoint">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="ySetpoint">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="zSetpoint">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="setpointLabel_3">
<property name="text">
......@@ -794,6 +780,109 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="yawLabel">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="0" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QLineEdit" name="xSetpoint">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="sendX">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_13">
<item>
<widget class="QLineEdit" name="ySetpoint">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="sendY">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_14">
<item>
<widget class="QLineEdit" name="zSetpoint">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="sendZ">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_15">
<item>
<widget class="QLineEdit" name="yawSetpoint">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="sendYaw">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
......
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