示例#1
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_MagnetometerCalibrationPanel()
        self.ui.setupUi(self)

        self._is_running = False
        self._amount_axis = 3
        self._axix_max = [0, 0, 0]
        self._axis_min = [0, 0, 0]

        self._axix_x = '0'
        self._axix_y = '1'
        self._axix_z = '2'

        self._is_connected = False

        self.ui.start.clicked.connect(self.start_magnetometer_calibration)
        self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)

        vehicle_event_dispatcher.register(
            self._magnetometer_raw_data_updated,
            VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
        ui_event_dispatcher.register(
            self._connection_state_changed,
            UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
示例#2
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)

        self.ui = Ui_PIDParametersUpdaterPanel()
        self.ui.setupUi(self)

        self.ui.pid_type_list.addItem("ACCRO")
        self.ui.pid_type_list.addItem("STABLE")
        self.ui.pid_type_list.clicked.connect(self._pid_list_selection_clicked)
        self.ui.pid_type_list.setCurrentRow(0)

        self._accro_pid_tuning_controller = AccroPIDTuningController(
            vehicle_event_dispatcher, ui_event_dispatcher)
        self.ui.panel_container.addWidget(self._accro_pid_tuning_controller)
        self.ui.panel_container.setCurrentIndex(0)

        self._stable_pid_tuning_controller = StablePIDTuningController(
            vehicle_event_dispatcher, ui_event_dispatcher)
        self.ui.panel_container.addWidget(self._stable_pid_tuning_controller)

        self.ui.beginner_radio_button.clicked.connect(
            self._beginner_radio_button_pressed)
        self.ui.intermediate_radio_button.clicked.connect(
            self._intermediate_radio_button_pressed)
        self.ui.advance_radio_button.clicked.connect(
            self._advanced_radio_button_pressed)
        self.ui.beginner_radio_button.setChecked(True)

        self._current_pid_tuning_controller = self._accro_pid_tuning_controller
 def __init__(self, vehicle_model, protocol_handler):
     
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     
     self.vehicle_model = vehicle_model
     self._protocol_handler = protocol_handler
     
     self.ui = Ui_SensorsCalibrationPanel()
     self.ui.setupUi(self)
     self.ui.start.clicked.connect(self.start_calibration)
     self.ui.cancel.clicked.connect(self.cancel_calibration)
     self.ui.cancel.setEnabled(False)
     
     self.state = 0
     self.AmountReadings = 100
     self.ReadingNumber = 0
     self.AmountStates = 6
     
     self.CalLevel = '0'
     self.CalUpsidedown = '1'
     self.CalLeft = '2'
     self.CalRight = '3'
     self.CalFront = '4'
     self.CalRear = '5'
     
     self.change_gui_picture(self.state)
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     
     self.ui = Ui_PIDParametersUpdaterPanel()
     self.ui.setupUi(self)
     
     self.ui.pid_type_list.addItem("ACCRO")
     self.ui.pid_type_list.addItem("STABLE")
     self.ui.pid_type_list.clicked.connect(self._pid_list_selection_clicked)
     self.ui.pid_type_list.setCurrentRow(0)
     
     
     self._accro_pid_tuning_controller = AccroPIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
     self.ui.panel_container.addWidget(self._accro_pid_tuning_controller)
     self.ui.panel_container.setCurrentIndex(0)
     
     self._stable_pid_tuning_controller = StablePIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
     self.ui.panel_container.addWidget(self._stable_pid_tuning_controller)
     
     self.ui.beginner_radio_button.clicked.connect(self._beginner_radio_button_pressed)
     self.ui.intermediate_radio_button.clicked.connect(self._intermediate_radio_button_pressed)
     self.ui.advance_radio_button.clicked.connect(self._advanced_radio_button_pressed)
     self.ui.beginner_radio_button.setChecked(True)
     
     self._current_pid_tuning_controller = self._accro_pid_tuning_controller
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_DataPlotPanel()
     self.ui.setupUi(self)
     
     self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
     self.ui.plot_view.clear()
     self.ui.plot_view.setBackground(QtGui.QColor('white'))
     self.ui.tree_widget.clear()
     self._plot_index = 0
     
     self._plot_datas_arrays = [] 
     self._curves = []
     self._tree_nodes = []
     
     vehicle_event_dispatcher.register(self._receiver_nb_channels_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
     ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
     
     vehicle_event_dispatcher.register(self._receiver_roll_event, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_pitch_event, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_yaw_event, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_throttle_event, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_mode_event, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_aux1_event, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_aux2_event, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_aux3_event, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_aux4_event, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_aux5_event, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_aux6_event, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_aux7_event, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
 def __init__(self, vehicle_model, protocol_handler):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     
     self._vehicle_model = vehicle_model
     self._protocol_handler = protocol_handler
     
     self.ui = Ui_MagnetometerCalibrationPanel()
     self.ui.setupUi(self)
     
     self._is_running = False
     self._amount_axis = 3
     self._axix_max = [0, 0, 0] # x y z
     self._axis_min = [0, 0, 0] # x y z
     
     self._axix_x = '0'
     self._axix_y = '1'
     self._axix_z = '2'
     
     self._is_connected = False
     
     self.ui.start.clicked.connect(self.start_magnetometer_calibration)
     self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
     
     self._vehicle_model.register(self._magnetometer_raw_data_updated, VehicleModel.MAGNETOMETER_RAW_DATA_EVENT)
     self._vehicle_model.register(self._connection_state_changed, VehicleModel.CONNECTION_STATE_CHANGED_EVENT)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_DataPlotPanel()
        self.ui.setupUi(self)

        self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
        self.ui.plot_view.clear()
        self.ui.plot_view.setBackground(QtGui.QColor('white'))
        self.ui.tree_widget.clear()
        self._plot_index = 0

        self._plot_datas_arrays = []
        self._curves = []
        colors = [
            QtGui.QColor('blue'),
            QtGui.QColor('red'),
            QtGui.QColor('lime'),
            QtGui.QColor('cornflowerblue'),
            QtGui.QColor('greenyellow'),
            QtGui.QColor('violet'),
            QtGui.QColor('orange'),
            QtGui.QColor('deepskyblue'),
            QtGui.QColor('firebrick'),
            QtGui.QColor('aqua')
        ]

        self.gyro_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
        self.gyro_parent.setCheckState(0, 2)
        self.gyro_parent.setText(0, 'Gyro')
        self.gyro_parent.addChild(
            self.createPlotLine(0, colors[0], 'Gyro X Axis'))
        self.gyro_parent.addChild(
            self.createPlotLine(1, colors[1], 'Gyro Y Axis'))
        self.gyro_parent.addChild(
            self.createPlotLine(2, colors[2], 'Gyro Z Axis'))
        self.ui.tree_widget.expandItem(self.gyro_parent)

        self.accel_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
        self.accel_parent.setCheckState(0, 2)
        self.accel_parent.setText(0, 'Accel')
        self.accel_parent.addChild(
            self.createPlotLine(3, colors[3], 'Accel X Axis'))
        self.accel_parent.addChild(
            self.createPlotLine(4, colors[4], 'Accel Y Axis'))
        self.accel_parent.addChild(
            self.createPlotLine(5, colors[5], 'Accel Z Axis'))
        self.ui.tree_widget.expandItem(self.accel_parent)

        ui_event_dispatcher.register(self._protocol_handler_changed_event,
                                     UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
        vehicle_event_dispatcher.register(
            self._gyro_raw_data_receved,
            VehicleEventDispatcher.GYRO_DATA_EVENT)
        vehicle_event_dispatcher.register(
            self._accel_raw_data_receved,
            VehicleEventDispatcher.ACCEL_DATA_EVENT)
        vehicle_event_dispatcher.register(
            self._mag_raw_data_receved,
            VehicleEventDispatcher.MAGNETOMETER_DATA_EVENT)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_MotorCommandPanel()
        self.ui.setupUi(self)

        self._motor_slider1 = MotorSlider(1)
        self.ui.gridLayout.addWidget(self._motor_slider1, 0, 0, 1, 1)
        self._motor_slider2 = MotorSlider(2)
        self.ui.gridLayout.addWidget(self._motor_slider2, 0, 1, 1, 1)
        self._motor_slider3 = MotorSlider(3)
        self.ui.gridLayout.addWidget(self._motor_slider3, 0, 2, 1, 1)
        self._motor_slider4 = MotorSlider(4)
        self.ui.gridLayout.addWidget(self._motor_slider4, 0, 3, 1, 1)
        self._motor_slider5 = MotorSlider(5)
        self.ui.gridLayout.addWidget(self._motor_slider5, 0, 4, 1, 1)
        self._motor_slider6 = MotorSlider(6)
        self.ui.gridLayout.addWidget(self._motor_slider6, 0, 5, 1, 1)
        self._motor_slider7 = MotorSlider(7)
        self.ui.gridLayout.addWidget(self._motor_slider7, 0, 4, 1, 1)
        self._motor_slider8 = MotorSlider(8) 
        self.ui.gridLayout.addWidget(self._motor_slider8, 0, 5, 1, 1)
        
        self.ui.unlock_check_box.stateChanged.connect(self._check_box_state_changed)
        self.ui.send_command_button.clicked.connect(self._send_motors_commands)
        self.ui.stop_all_motors_button.clicked.connect(self._send_stop_commands)
        self.ui.help_button.clicked.connect(self._display_help_image)
        
        self._timer = None
        
        ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
        vehicle_event_dispatcher.register(self._nb_motors_received, VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
示例#9
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_DataPlotPanel()
        self.ui.setupUi(self)

        self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
        self.ui.plot_view.clear()
        self.ui.plot_view.setBackground(QtGui.QColor('white'))
        self.ui.tree_widget.clear()
        self._plot_index = 0

        self._plot_datas_arrays = []
        self._curves = []
        self._tree_nodes = []

        vehicle_event_dispatcher.register(
            self._receiver_nb_channels_received,
            VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
        ui_event_dispatcher.register(self._protocol_handler_changed_event,
                                     UIEventDispatcher.PROTOCOL_HANDLER_EVENT)

        vehicle_event_dispatcher.register(
            self._receiver_roll_event,
            VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_pitch_event,
            VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_yaw_event,
            VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_throttle_event,
            VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_mode_event,
            VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux1_event,
            VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux2_event,
            VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux3_event,
            VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux4_event,
            VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux5_event,
            VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux6_event,
            VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux7_event,
            VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
    def __init__(self, vehicle_model, protocol_handler):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        
        self._vehicle_model = vehicle_model
        self._protocol_handler = protocol_handler

        self.ui = Ui_DataPlotPanel()
        self.ui.setupUi(self)
    def __init__(self, vehicle_model, message_sender):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        
        self.vehicle_model = vehicle_model
        self.message_sender = message_sender

        self.ui = Ui_DataPlotPanel()
        self.ui.setupUi(self)
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_ReceiverCalibrationPanel()
     self.ui.setupUi(self)
     self.ui.start_button.setEnabled(True)
     self.ui.cancel_button.setEnabled(False)
     
     leftStickScene = QtGui.QGraphicsScene()
     leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
     leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
     leftStickScene.addItem(leftStickItem)
     self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
     self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
     self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
     leftStickScene.addItem(self.leftStick)
     self.ui.left_transmitter.setScene(leftStickScene)
     
     rightStickScene = QtGui.QGraphicsScene()
     rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
     rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
     rightStickScene.addItem(rightStickItem)
     self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
     self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
     self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
     rightStickScene.addItem(self.rightStick)
     self.ui.right_transmitter.setScene(rightStickScene)   
     
     self._nb_channels = 12
     self._raw_receiver_min_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
     self._raw_receiver_max_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
     self.max_amount_channels = 12
     
     self._raw_roll = 1500
     self._raw_pitch = 1500
     self._raw_yaw = 1500
     self._raw_throttle = 1500
     
     self.ui.start_button.clicked.connect(self.start_RCcalibration)
     self.ui.cancel_button.clicked.connect(self._cancel_calibration)
     
     ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
     vehicle_event_dispatcher.register(self._receiver_channel_count_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
     
     vehicle_event_dispatcher.register(self._receiver_raw_roll_received, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_pitch_received, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_yaw_received, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_throttle_received, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_mode_received, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_aux1_received, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_aux2_received, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_aux3_received, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_aux4_received, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_aux5_received, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_aux6_received, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
     vehicle_event_dispatcher.register(self._receiver_raw_aux7_received, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)

        self.ui = Ui_PIDTuningPanel()
        self.ui.setupUi(self)

        self._current_roll_pid = PIDData(100, 150, -300)
        self._current_pitch_pid = PIDData(100, 150, -300)
        self._current_stick_scaling = 1

        self._is_starting = False
        self._user_update_mode = PIDUpdateMode.BEGINNER_MODE

        self._roll_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._roll_pid_controller)
        self._roll_pid_controller.set_title('PID tuning')
        self._roll_pid_controller.set_default(PIDData(100, 150, -350))
        self._roll_pid_controller.set_p_bounds(50, 200)
        self._roll_pid_controller.set_p_title('Pitch Gain')
        self._roll_pid_controller.set_i_bounds(100, 300)
        self._roll_pid_controller.set_i_title('Error correction')
        self._roll_pid_controller.set_d_bounds(-1000, -100)
        self._roll_pid_controller.set_d_title('Set Point')

        self._pitch_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._pitch_pid_controller)
        self._pitch_pid_controller.set_title('PID tuning')
        self._pitch_pid_controller.set_default(PIDData(100, 150, -350))
        self._pitch_pid_controller.set_p_bounds(50, 200)
        self._pitch_pid_controller.set_p_title('Pitch Gain')
        self._pitch_pid_controller.set_i_bounds(100, 300)
        self._pitch_pid_controller.set_i_title('Error correction')
        self._pitch_pid_controller.set_d_bounds(-1000, -100)
        self._pitch_pid_controller.set_d_title('Set Point')

        self._stick_scaling_controller = ConfigSingleLinePanelController()
        self._stick_scaling_controller.set_title('Stick Scaling')
        self._stick_scaling_controller.set_line_description('Stick Scaling')
        self._stick_scaling_controller.set_bounds(1, 6)
        self._stick_scaling_controller.set_default('1')
        self.ui.main_layout.addWidget(self._stick_scaling_controller)

        ui_event_dispatcher.register(self._protocol_handler_changed_event,
                                     UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
        vehicle_event_dispatcher.register(
            self._roll_pid_received, VehicleEventDispatcher.PID_ACCRO_ROLL)
        vehicle_event_dispatcher.register(
            self._pitch_pid_received, VehicleEventDispatcher.PID_ACCRO_PITCH)
        vehicle_event_dispatcher.register(
            self._accro_stick_scaling_received,
            VehicleEventDispatcher.PID_ACCRO_STICK_SCALING)

        self._cpt_before_send = 5
        self.set_beginner_mode()
 def __init__(self, vehicle_event_dispatcher, protocol_handler):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_MainMenuePanel()
     self.ui.setupUi(self)
     
     self.ui.button_vehicle_status.clicked.connect(self.load_vehicle_status)
     self.ui.button_vehicle_configuration.clicked.connect(self.load_vehicle_configuration)
     self.ui.button_serial_monitor.clicked.connect(self.load_serial_monitor)
     self.ui.button_firmware_download.clicked.connect(self.load_firmware_download)
     self.ui.button_vehicle_setup.clicked.connect(self.load_vehicle_setup)
示例#15
0
    def __init__(self, vehicle_event_dispatcher, protocol_handler):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_CommMonitorPanel()
        self.ui.setupUi(self)
        self.ui.sendButton.setEnabled(False)
        self.ui.clearButton.setEnabled(False)

        # Connect GUI slots and signals
        self.ui.lineEdit.returnPressed.connect(self.sendCommand)
        self.ui.sendButton.clicked.connect(self.sendCommand)
        self.ui.clearButton.clicked.connect(self.clearComm)
示例#16
0
 def __init__(self, vehicle_event_dispatcher, protocol_handler):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_CommMonitorPanel()
     self.ui.setupUi(self)
     self.ui.sendButton.setEnabled(False)
     self.ui.clearButton.setEnabled(False)
             
     # Connect GUI slots and signals
     self.ui.lineEdit.returnPressed.connect(self.sendCommand)
     self.ui.sendButton.clicked.connect(self.sendCommand)
     self.ui.clearButton.clicked.connect(self.clearComm)
示例#17
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):

        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)

        self.ui = Ui_PIDTuningPanel()
        self.ui.setupUi(self)

        self._accel_roll_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._accel_roll_pid_controller)
        self._accel_roll_pid_controller.hide_i_line()
        self._accel_roll_pid_controller.hide_d_line()
        self._accel_roll_pid_controller.p_line.ui.label.setText(
            'Accel Roll Gain')
        self._accel_roll_pid_controller.i_line.ui.label.setText(
            'Accel Roll Error Correction')
        self._accel_roll_pid_controller.d_line.ui.label.setText(
            'Accel Roll Set Point Adjustment')

        self._gyro_roll_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._gyro_roll_pid_controller)
        self._gyro_roll_pid_controller.hide_i_line()
        self._gyro_roll_pid_controller.p_line.ui.label.setText(
            'Gyro Roll Gain')
        self._gyro_roll_pid_controller.i_line.ui.label.setText(
            'Gyro Roll Error Correction')
        self._gyro_roll_pid_controller.d_line.ui.label.setText(
            'Gyro Roll Set Point Adjustment')

        self._accel_pitch_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._accel_pitch_pid_controller)
        self._accel_pitch_pid_controller.hide_i_line()
        self._accel_pitch_pid_controller.hide_d_line()
        self._accel_pitch_pid_controller.p_line.ui.label.setText(
            'Accel Pitch Gain')
        self._accel_pitch_pid_controller.i_line.ui.label.setText(
            'Accel Pitch Error Correction')
        self._accel_pitch_pid_controller.d_line.ui.label.setText(
            'Accel Pitch Set Point Adjustment')

        self._gyro_pitch_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._gyro_pitch_pid_controller)
        self._gyro_pitch_pid_controller.p_line.ui.label.setText(
            'Gyro Pitch Gain')
        self._gyro_pitch_pid_controller.i_line.ui.label.setText(
            'Gyro Pitch Error Correction')
        self._gyro_pitch_pid_controller.d_line.ui.label.setText(
            'Gyro Pitch Set Point Adjustment')

        self.setBeginnerMode()
        self.ui.linked_check_box.clicked.connect(self._linked_checkbox_pressed)
        self._linked_checkbox_pressed()
 def __init__(self, vehicle_model, message_sender):
     
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     
     self.vehicle_model = vehicle_model
     self.message_sender = message_sender
     
     self.ui = Ui_VehicleConfigurationPanel()
     self.ui.setupUi(self)
     self.image = QtGui.QPixmap("./resources/Quad+.png")
     
     self.ui.updateButton.clicked.connect(self.updateConfiguration)
示例#19
0
    def __init__(self, vehicle_event_dispatcher, protocol_handler):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_MainMenuePanel()
        self.ui.setupUi(self)

        self.ui.button_vehicle_status.clicked.connect(self.load_vehicle_status)
        self.ui.button_vehicle_configuration.clicked.connect(
            self.load_vehicle_configuration)
        self.ui.button_serial_monitor.clicked.connect(self.load_serial_monitor)
        self.ui.button_firmware_download.clicked.connect(
            self.load_firmware_download)
        self.ui.button_vehicle_setup.clicked.connect(self.load_vehicle_setup)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher, parent=None):
        super(MotorCommandController, self).__init__(parent)
        BasePanelController.__init__(self)
        self.ui = MotorCommandPanel()
        self.ui.setupUi(self)
        self.ui.sendButton.setEnabled(False)
        self.ui.clearButton.setEnabled(False)
       
        self.started = False


        # Connect GUI slots and signals
        self.ui.sendButton.clicked.connect(self.sendCommand)
        self.ui.clearButton.clicked.connect(self.clearCommand)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        
        self.ui = Ui_PIDTuningPanel()
        self.ui.setupUi(self)

        self._current_roll_pid = PIDData(100,150,-300)
        self._current_pitch_pid = PIDData(100,150,-300)
        self._current_stick_scaling = 1
        
        self._is_starting = False
        self._user_update_mode = PIDUpdateMode.BEGINNER_MODE
                
        self._roll_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._roll_pid_controller)
        self._roll_pid_controller.set_title('PID tuning')
        self._roll_pid_controller.set_default(PIDData(100,150,-350))
        self._roll_pid_controller.set_p_bounds(50,200)
        self._roll_pid_controller.set_p_title('Pitch Gain')
        self._roll_pid_controller.set_i_bounds(100,300)
        self._roll_pid_controller.set_i_title('Error correction')
        self._roll_pid_controller.set_d_bounds(-1000,-100)
        self._roll_pid_controller.set_d_title('Set Point')
        
        self._pitch_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._pitch_pid_controller)
        self._pitch_pid_controller.set_title('PID tuning')
        self._pitch_pid_controller.set_default(PIDData(100,150,-350))
        self._pitch_pid_controller.set_p_bounds(50,200)
        self._pitch_pid_controller.set_p_title('Pitch Gain')
        self._pitch_pid_controller.set_i_bounds(100,300)
        self._pitch_pid_controller.set_i_title('Error correction')
        self._pitch_pid_controller.set_d_bounds(-1000,-100)
        self._pitch_pid_controller.set_d_title('Set Point')
        
        self._stick_scaling_controller = ConfigSingleLinePanelController()
        self._stick_scaling_controller.set_title('Stick Scaling')
        self._stick_scaling_controller.set_line_description('Stick Scaling')
        self._stick_scaling_controller.set_bounds(1,6)
        self._stick_scaling_controller.set_default('1')
        self.ui.main_layout.addWidget(self._stick_scaling_controller)
        
        ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
        vehicle_event_dispatcher.register(self._roll_pid_received, VehicleEventDispatcher.PID_ACCRO_ROLL)
        vehicle_event_dispatcher.register(self._pitch_pid_received, VehicleEventDispatcher.PID_ACCRO_PITCH)
        vehicle_event_dispatcher.register(self._accro_stick_scaling_received, VehicleEventDispatcher.PID_ACCRO_STICK_SCALING)
        
        self._cpt_before_send = 5
        self.set_beginner_mode()
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     
     self.ui = Ui_AccelCalibrationPanel()
     self.ui.setupUi(self)
     self.ui.start_button.clicked.connect(self._start_button_pressed)
     self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
     self.ui.progress_bar.setMaximum(AccelCalibrationController.NB_SAMPLE_TO_READ)
     
     ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
     vehicle_event_dispatcher.register(self._accel_raw_data_received, VehicleEventDispatcher.ACCEL_RAW_DATA_EVENT)
     
     self._set_initial_panel_state()
示例#23
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_VehicleConfigurationPanel()
        self.ui.setupUi(self)

        self.ui.configSpecs.setRowCount(15)
        self.ui.configSpecs.setColumnCount(1)
        self._reset_panel()

        ui_event_dispatcher.register(
            self._connection_state_changed,
            UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
        vehicle_event_dispatcher.register(
            self._flight_config_received,
            VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.BOAR_TYPE_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.GYROSCOPE_DETECTED_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.ACCELEROMETER_DETECTED_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.BAROMETER_DETECTED_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.MAGNETOMETER_DETECTED_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.HEADING_HOLD_ENABLED_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.ALTITUDE_HOLD_ENABLED_EVENT)
        vehicle_event_dispatcher.register(
            self._board_config_received,
            VehicleEventDispatcher.BATTERY_MONITOR_ENABLED_EVENT)
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     
     self.ui = Ui_PIDParametersUpdaterPanel()
     self.ui.setupUi(self)
     self.ui.parameterTable.verticalHeader().setVisible(False)
     self.ui.buttonLoad.setEnabled(False)
     self.ui.buttonSave.setEnabled(False)
     self.ui.buttonUpload.setEnabled(False)
     
     self.ui.listParameterType.clicked.connect(self.updateSelection)
     self.ui.buttonUpload.clicked.connect(self.updateParameters)
     self.ui.buttonSave.clicked.connect(self.underConstruction)
     self.ui.buttonLoad.clicked.connect(self.underConstruction)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)

        self.ui = Ui_PIDParametersUpdaterPanel()
        self.ui.setupUi(self)
        self.ui.parameterTable.verticalHeader().setVisible(False)
        self.ui.buttonLoad.setEnabled(False)
        self.ui.buttonSave.setEnabled(False)
        self.ui.buttonUpload.setEnabled(False)

        self.ui.listParameterType.clicked.connect(self.updateSelection)
        self.ui.buttonUpload.clicked.connect(self.updateParameters)
        self.ui.buttonSave.clicked.connect(self.underConstruction)
        self.ui.buttonLoad.clicked.connect(self.underConstruction)
示例#26
0
    def __init__(self,
                 vehicle_event_dispatcher,
                 ui_event_dispatcher,
                 parent=None):
        super(MotorCommandController, self).__init__(parent)
        BasePanelController.__init__(self)
        self.ui = MotorCommandPanel()
        self.ui.setupUi(self)
        self.ui.sendButton.setEnabled(False)
        self.ui.clearButton.setEnabled(False)

        self.started = False

        # Connect GUI slots and signals
        self.ui.sendButton.clicked.connect(self.sendCommand)
        self.ui.clearButton.clicked.connect(self.clearCommand)
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_DataPlotPanel()
     self.ui.setupUi(self)
     
     self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
     self.ui.plot_view.clear()
     self.ui.plot_view.setBackground(QtGui.QColor('white'))
     self.ui.tree_widget.clear()
     self._plot_index = 0
     
     self._plot_datas_arrays = []
     self._curves = [] 
     self._colors = [
         QtGui.QColor('blue'),
         QtGui.QColor('red'),
         QtGui.QColor('lime'),
         QtGui.QColor('cornflowerblue'),
         QtGui.QColor('greenyellow'),
         QtGui.QColor('violet'),
         QtGui.QColor('orange'),
         QtGui.QColor('deepskyblue'),
         QtGui.QColor('firebrick'),
         QtGui.QColor('aqua')]
     
     self.gyro_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
     self.gyro_parent.setCheckState(0, 2)
     self.gyro_parent.setText(0, 'Gyro')
     self.gyro_parent.addChild (self.createPlotLine(0, self._colors[0], 'Gyro X Axis'))
     self.gyro_parent.addChild (self.createPlotLine(1, self._colors[1], 'Gyro Y Axis'))
     self.gyro_parent.addChild (self.createPlotLine(2, self._colors[2], 'Gyro Z Axis'))
     self.ui.tree_widget.expandItem(self.gyro_parent)
     
     self.accel_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
     self.accel_parent.setCheckState(0, 2)
     self.accel_parent.setText(0, 'Accel')
     self.accel_parent.addChild (self.createPlotLine(3, self._colors[3], 'Accel X Axis'))
     self.accel_parent.addChild (self.createPlotLine(4, self._colors[4], 'Accel Y Axis'))
     self.accel_parent.addChild (self.createPlotLine(5, self._colors[5], 'Accel Z Axis'))
     self.ui.tree_widget.expandItem(self.accel_parent)
     
     ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
     vehicle_event_dispatcher.register(self._gyro_raw_data_receved, VehicleEventDispatcher.GYRO_DATA_EVENT)
     vehicle_event_dispatcher.register(self._accel_raw_data_receved, VehicleEventDispatcher.ACCEL_DATA_EVENT)
     vehicle_event_dispatcher.register(self._mag_raw_data_receved, VehicleEventDispatcher.MAGNETOMETER_DATA_EVENT)
     vehicle_event_dispatcher.register(self._is_magnetometer_detected_event, VehicleEventDispatcher.MAGNETOMETER_DETECTED_EVENT)
    def __init__(self, vehicle_model, message_sender):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        
        self.vehicle_model = vehicle_model
        self.message_sender = message_sender

        
        self.ui = Ui_CommMonitorPanel()
        self.ui.setupUi(self)
        self.ui.sendButton.setEnabled(False)
        self.ui.clearButton.setEnabled(False)
                
        # Connect GUI slots and signals
        self.ui.lineEdit.returnPressed.connect(self.sendCommand)
        self.ui.sendButton.clicked.connect(self.sendCommand)
        self.ui.clearButton.clicked.connect(self.clearComm)
    def __init__(self, vehicle_model, message_sender, parent=None):
        super(MotorCommandController, self).__init__(parent)
        BasePanelController.__init__(self)
        
        self.vehicle_model = vehicle_model
        self.message_sender = message_sender
        
        self.started = False

        self.ui = MotorCommandPanel()
        self.ui.setupUi(self)
        self.ui.sendButton.setEnabled(False)
        self.ui.clearButton.setEnabled(False)

        # Connect GUI slots and signals
        self.ui.sendButton.clicked.connect(self.sendCommand)
        self.ui.clearButton.clicked.connect(self.clearCommand)
 def __init__(self, vehicle_event_dispatcher, protocol_handler):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_ReceiverChannelDetectionPanel()
     self.ui.setupUi(self)
     self.ui.start.setEnabled(True)
     self.ui.cancel.setEnabled(False)
     self.ui.cancel.clicked.connect(self.cancel_RC)
     self.ui.start.clicked.connect(self.start_RCsetup)
     self.amount_channels = 12                                                            
     self.last_RCvalue = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]                                        
     self.first_loop = 80                                                                
     self.channel_order_map = [100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100] 
     self.channel_detecting = 0                                                          
     self.running = False
     self.channel_offset = 200
     self.max_amount_channels = 12
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_MagnetometerCalibrationPanel()
     self.ui.setupUi(self)
     
     self._min_mag_values = [0, 0, 0] 
     self._max_mag_values = [0, 0, 0] 
     
     self._axix_x = '0'
     self._axix_y = '1'
     self._axix_z = '2'
     
     self.ui.start_button.clicked.connect(self._start_button_pressed)
     self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
     
     vehicle_event_dispatcher.register(self._magnetometer_raw_data_updated, VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
     ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
示例#32
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)

        self.ui = Ui_AccelCalibrationPanel()
        self.ui.setupUi(self)
        self.ui.start_button.clicked.connect(self._start_button_pressed)
        self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
        self.ui.progress_bar.setMaximum(
            AccelCalibrationController.NB_SAMPLE_TO_READ)

        ui_event_dispatcher.register(self._protocol_handler_changed_event,
                                     UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
        vehicle_event_dispatcher.register(
            self._accel_raw_data_received,
            VehicleEventDispatcher.ACCEL_RAW_DATA_EVENT)

        self._set_initial_panel_state()
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     
     self.ui = Ui_PIDTuningPanel()
     self.ui.setupUi(self)
     
     self._gyro_roll_pid_controller = PIDWidgetController()
     self.ui.main_layout.addWidget(self._gyro_roll_pid_controller)
     
     self._gyro_pitch_pid_controller = PIDWidgetController()
     self.ui.main_layout.addWidget(self._gyro_pitch_pid_controller)
     self._gyro_pitch_pid_controller.p_line.ui.label.setText('Pitch Gain')
     self._gyro_pitch_pid_controller.i_line.ui.label.setText('Pitch Error Correction')
     self._gyro_pitch_pid_controller.d_line.ui.label.setText('Pitch Set Point Adjustment')
     
     self.setBeginnerMode()
     self.ui.linked_check_box.clicked.connect(self._linked_checkbox_pressed)
     self._linked_checkbox_pressed()
示例#34
0
 def __init__(self, vehicle_event_dispatcher, protocol_handler):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_ReceiverChannelDetectionPanel()
     self.ui.setupUi(self)
     self.ui.start.setEnabled(True)
     self.ui.cancel.setEnabled(False)
     self.ui.cancel.clicked.connect(self.cancel_RC)
     self.ui.start.clicked.connect(self.start_RCsetup)
     self.amount_channels = 12
     self.last_RCvalue = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
     self.first_loop = 80
     self.channel_order_map = [
         100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100
     ]
     self.channel_detecting = 0
     self.running = False
     self.channel_offset = 200
     self.max_amount_channels = 12
    def __init__(self, vehicle_event_dispatcher, protocol_handler):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_VehicleDynamicConfigPanel()
        self.ui.setupUi(self)
        self.ui.updateButton.clicked.connect(self._send_mini_config)

        palette = QtGui.QPalette()
        palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
        self.ui.receiverTitle.setPalette(palette)
        self.ui.motorTitle.setPalette(palette)

        self.ui.triBox.clicked.connect(self.triCheckBoxPressed)
        self.ui.quadBox.clicked.connect(self.quadCheckBoxPressed)
        self.ui.quadPlusBox.clicked.connect(self.quadPlusCheckBoxPressed)
        self.ui.quadY4Box.clicked.connect(self.y4CheckBoxPressed)
        self.ui.y6Box.clicked.connect(self.y6CheckBoxPressed)
        self.ui.hexaPlusBox.clicked.connect(self.hexPlusCheckBoxPressed)
        self.ui.hexaXBox.clicked.connect(self.hexXCheckBoxPressed)
        self.ui.reverseRotation.clicked.connect(
            self.reverseRotationCheckBoxPressed)

        self.ui.ppmRecv.clicked.connect(self.ppmReceiverCheckBoxPressed)
        self.ui.normalRecv.clicked.connect(self.normalReceiverCheckBoxPressed)

        self._flight_config_type = FlightConfigType.QUAD_X
        self._receiver_type = ReceiverConfigType.RECEIVER_PWM
        self._reversed_yaw = '1'

        self._selected_flight_config = FlightConfigType.QUAD_X
        self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
        self._selected_reversed_yaw_rotation = '1'
        self._update_panel_component()

        vehicle_event_dispatcher.register(
            self._flight_config_updated,
            VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
        vehicle_event_dispatcher.register(
            self._yaw_direction_updated,
            VehicleEventDispatcher.YAW_DIRECTION_CONFIG_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_type_updated,
            VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
    def __init__(self, vehicle_model, message_sender):
        
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        
        self.vehicle_model = vehicle_model
        self.message_sender = message_sender

        
        self.ui = Ui_ReceiverCalibrationPanel()
        self.ui.setupUi(self)
        self.ui.start.setEnabled(True)
        self.ui.cancel.setEnabled(False)
        
        leftStickScene = QtGui.QGraphicsScene()
        leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
        leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
        leftStickScene.addItem(leftStickItem)
        self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
        self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
        self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        leftStickScene.addItem(self.leftStick)
        self.ui.leftTransmitter.setScene(leftStickScene)
        
        rightStickScene = QtGui.QGraphicsScene()
        rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
        rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
        rightStickScene.addItem(rightStickItem)
        self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
        self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
        self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        rightStickScene.addItem(self.rightStick)
        self.ui.rightTransmitter.setScene(rightStickScene)   
        
        self.running = False
        self.amount_channels = 12
        self.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
        self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
        self.max_amount_channels = 12
        
        self.ui.start.clicked.connect(self.start_RCcalibration)
        self.ui.cancel.clicked.connect(self.cancel_RCcalibration)
 def __init__(self, vehicle_model, message_sender):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     
     self.vehicle_model = vehicle_model
     self.message_sender = message_sender
     
     self.ui = Ui_MagnetometerCalibrationPanel()
     self.ui.setupUi(self)
     
     self.running = False
     self.amount_axis = 3
     self.axix_max = [0, 0, 0] # x y z
     self.axis_min = [0, 0, 0] # x y z
     
     self.axix_x = '0'
     self.axix_y = '1'
     self.axix_z = '2'
     
     self.ui.start.clicked.connect(self.start_magnetometer_calibration)
     self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
示例#38
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_MagnetometerCalibrationPanel()
        self.ui.setupUi(self)

        self._min_mag_values = [0, 0, 0]
        self._max_mag_values = [0, 0, 0]

        self._axix_x = '0'
        self._axix_y = '1'
        self._axix_z = '2'

        self.ui.start_button.clicked.connect(self._start_button_pressed)
        self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)

        vehicle_event_dispatcher.register(
            self._magnetometer_raw_data_updated,
            VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
        ui_event_dispatcher.register(self._protocol_handler_changed_event,
                                     UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_MagnetometerCalibrationPanel()
     self.ui.setupUi(self)
     
     self._is_running = False
     self._amount_axis = 3
     self._axix_max = [0, 0, 0] 
     self._axis_min = [0, 0, 0] 
     
     self._axix_x = '0'
     self._axix_y = '1'
     self._axix_z = '2'
     
     self._is_connected = False
     
     self.ui.start.clicked.connect(self.start_magnetometer_calibration)
     self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
     
     vehicle_event_dispatcher.register(self._magnetometer_raw_data_updated, VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
     ui_event_dispatcher.register(self._connection_state_changed, UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):

        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        
        self.ui = Ui_PIDTuningPanel()
        self.ui.setupUi(self)

        self._accel_roll_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._accel_roll_pid_controller)
        self._accel_roll_pid_controller.hide_i_line()
        self._accel_roll_pid_controller.hide_d_line()
        self._accel_roll_pid_controller.p_line.ui.title_label.setText('Accel Roll Gain')
        self._accel_roll_pid_controller.i_line.ui.title_label.setText('Accel Roll Error Correction')
        self._accel_roll_pid_controller.d_line.ui.title_label.setText('Accel Roll Set Point Adjustment')
        
        self._gyro_roll_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._gyro_roll_pid_controller)
        self._gyro_roll_pid_controller.hide_i_line()
        self._gyro_roll_pid_controller.p_line.ui.title_label.setText('Gyro Roll Gain')
        self._gyro_roll_pid_controller.i_line.ui.title_label.setText('Gyro Roll Error Correction')
        self._gyro_roll_pid_controller.d_line.ui.title_label.setText('Gyro Roll Set Point Adjustment')
        
        self._accel_pitch_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._accel_pitch_pid_controller)
        self._accel_pitch_pid_controller.hide_i_line()
        self._accel_pitch_pid_controller.hide_d_line()
        self._accel_pitch_pid_controller.p_line.ui.title_label.setText('Accel Pitch Gain')
        self._accel_pitch_pid_controller.i_line.ui.title_label.setText('Accel Pitch Error Correction')
        self._accel_pitch_pid_controller.d_line.ui.title_label.setText('Accel Pitch Set Point Adjustment')
        
        self._gyro_pitch_pid_controller = PIDWidgetController()
        self.ui.main_layout.addWidget(self._gyro_pitch_pid_controller)
        self._gyro_pitch_pid_controller.p_line.ui.title_label.setText('Gyro Pitch Gain')
        self._gyro_pitch_pid_controller.i_line.ui.title_label.setText('Gyro Pitch Error Correction')
        self._gyro_pitch_pid_controller.d_line.ui.title_label.setText('Gyro Pitch Set Point Adjustment')
        
        self.setBeginnerMode()
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_VehicleConfigurationPanel()
     self.ui.setupUi(self)
     
     self.ui.configSpecs.setRowCount(15)
     self.ui.configSpecs.setColumnCount(1)
     self._reset_panel()
     
     ui_event_dispatcher.register(self._connection_state_changed, UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
     vehicle_event_dispatcher.register(self._flight_config_received, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.BOAR_TYPE_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.GYROSCOPE_DETECTED_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.ACCELEROMETER_DETECTED_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.BAROMETER_DETECTED_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.MAGNETOMETER_DETECTED_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.HEADING_HOLD_ENABLED_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.ALTITUDE_HOLD_ENABLED_EVENT)
     vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.BATTERY_MONITOR_ENABLED_EVENT)
示例#42
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_MotorCommandPanel()
        self.ui.setupUi(self)

        self._motor_slider1 = MotorSlider(1)
        self.ui.gridLayout.addWidget(self._motor_slider1, 0, 0, 1, 1)
        self._motor_slider2 = MotorSlider(2)
        self.ui.gridLayout.addWidget(self._motor_slider2, 0, 1, 1, 1)
        self._motor_slider3 = MotorSlider(3)
        self.ui.gridLayout.addWidget(self._motor_slider3, 0, 2, 1, 1)
        self._motor_slider4 = MotorSlider(4)
        self.ui.gridLayout.addWidget(self._motor_slider4, 0, 3, 1, 1)
        self._motor_slider5 = MotorSlider(5)
        self.ui.gridLayout.addWidget(self._motor_slider5, 0, 4, 1, 1)
        self._motor_slider6 = MotorSlider(6)
        self.ui.gridLayout.addWidget(self._motor_slider6, 0, 5, 1, 1)
        self._motor_slider7 = MotorSlider(7)
        self.ui.gridLayout.addWidget(self._motor_slider7, 0, 4, 1, 1)
        self._motor_slider8 = MotorSlider(8)
        self.ui.gridLayout.addWidget(self._motor_slider8, 0, 5, 1, 1)

        self.ui.unlock_check_box.stateChanged.connect(
            self._check_box_state_changed)
        self.ui.send_command_button.clicked.connect(self._send_motors_commands)
        self.ui.stop_all_motors_button.clicked.connect(
            self._send_stop_commands)
        self.ui.help_button.clicked.connect(self._display_help_image)

        self._timer = None

        ui_event_dispatcher.register(self._protocol_handler_changed_event,
                                     UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
        vehicle_event_dispatcher.register(
            self._nb_motors_received,
            VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
    def __init__(self, vehicle_event_dispatcher, protocol_handler):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_VehicleDynamicConfigPanel()
        self.ui.setupUi(self)
        self.ui.updateButton.clicked.connect(self._send_mini_config)
        
        palette = QtGui.QPalette()
        palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
        self.ui.receiverTitle.setPalette(palette)
        self.ui.motorTitle.setPalette(palette)
        
        self.ui.triBox.clicked.connect(self.triCheckBoxPressed)
        self.ui.quadBox.clicked.connect(self.quadCheckBoxPressed)
        self.ui.quadPlusBox.clicked.connect(self.quadPlusCheckBoxPressed)
        self.ui.quadY4Box.clicked.connect(self.y4CheckBoxPressed)
        self.ui.y6Box.clicked.connect(self.y6CheckBoxPressed)
        self.ui.hexaPlusBox.clicked.connect(self.hexPlusCheckBoxPressed)
        self.ui.hexaXBox.clicked.connect(self.hexXCheckBoxPressed)
        self.ui.reverseRotation.clicked.connect(self.reverseRotationCheckBoxPressed)
        
        self.ui.ppmRecv.clicked.connect(self.ppmReceiverCheckBoxPressed)
        self.ui.normalRecv.clicked.connect(self.normalReceiverCheckBoxPressed)
        
        
        self._flight_config_type = FlightConfigType.QUAD_X
        self._receiver_type = ReceiverConfigType.RECEIVER_PWM
        self._reversed_yaw = '1'

        self._selected_flight_config = FlightConfigType.QUAD_X
        self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
        self._selected_reversed_yaw_rotation = '1'
        self._update_panel_component()
        
        vehicle_event_dispatcher.register(self._flight_config_updated, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
        vehicle_event_dispatcher.register(self._yaw_direction_updated, VehicleEventDispatcher.YAW_DIRECTION_CONFIG_EVENT)
        vehicle_event_dispatcher.register(self._receiver_type_updated, VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
 def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
     QtGui.QWidget.__init__(self)
     BasePanelController.__init__(self)
     self.ui = Ui_ReceiverCalibrationPanel()
     self.ui.setupUi(self)
     self.ui.start.setEnabled(True)
     self.ui.cancel.setEnabled(False)
     
     leftStickScene = QtGui.QGraphicsScene()
     leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
     leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
     leftStickScene.addItem(leftStickItem)
     self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
     self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
     self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
     leftStickScene.addItem(self.leftStick)
     self.ui.leftTransmitter.setScene(leftStickScene)
     
     rightStickScene = QtGui.QGraphicsScene()
     rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
     rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
     rightStickScene.addItem(rightStickItem)
     self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
     self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
     self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
     rightStickScene.addItem(self.rightStick)
     self.ui.rightTransmitter.setScene(rightStickScene)   
     
     self.running = False
     self.amount_channels = 12
     self.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
     self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
     self.max_amount_channels = 12
     
     self.ui.start.clicked.connect(self.start_RCcalibration)
     self.ui.cancel.clicked.connect(self.cancel_RCcalibration)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_ReceiverCalibrationPanel()
        self.ui.setupUi(self)
        self.ui.start_button.setEnabled(True)
        self.ui.cancel_button.setEnabled(False)

        leftStickScene = QtGui.QGraphicsScene()
        leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
        leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
        leftStickScene.addItem(leftStickItem)
        self.leftStick = QtGui.QGraphicsEllipseItem(
            QtCore.QRectF(75, 75, 30, 30))
        self.leftStick.setPen(
            QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
                       2))
        self.leftStick.setBrush(
            QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        leftStickScene.addItem(self.leftStick)
        self.ui.left_transmitter.setScene(leftStickScene)

        rightStickScene = QtGui.QGraphicsScene()
        rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
        rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
        rightStickScene.addItem(rightStickItem)
        self.rightStick = QtGui.QGraphicsEllipseItem(
            QtCore.QRectF(75, 75, 30, 30))
        self.rightStick.setPen(
            QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
                       2))
        self.rightStick.setBrush(
            QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        rightStickScene.addItem(self.rightStick)
        self.ui.right_transmitter.setScene(rightStickScene)

        self._nb_channels = 12
        self._raw_receiver_min_values = [
            1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
            1500, 1500
        ]
        self._raw_receiver_max_values = [
            1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
            1500, 1500
        ]
        self.max_amount_channels = 12

        self._raw_roll = 1500
        self._raw_pitch = 1500
        self._raw_yaw = 1500
        self._raw_throttle = 1500

        self.ui.start_button.clicked.connect(self.start_RCcalibration)
        self.ui.cancel_button.clicked.connect(self._cancel_calibration)

        ui_event_dispatcher.register(self._protocol_handler_changed_event,
                                     UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_channel_count_received,
            VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)

        vehicle_event_dispatcher.register(
            self._receiver_raw_roll_received,
            VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_pitch_received,
            VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_yaw_received,
            VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_throttle_received,
            VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_mode_received,
            VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_aux1_received,
            VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_aux2_received,
            VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_aux3_received,
            VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_aux4_received,
            VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_aux5_received,
            VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_aux6_received,
            VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_raw_aux7_received,
            VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_VehicleOverallStatusPanel()
        self.ui.setupUi(self)
        
        self._protocol_handler = None
        self._channel_count = 0
        self._flight_config = 'Quad +'
        self._channel_bar_gauge_array = []
        self._channels_label_array_text = ['Mode']
        self._channels_label_array_object = []
        self._motor_gauge_pixel_width = 25.0
        self._label_pixel_height = 25
        self._window_height = 400
        
        self._motors_count = 4
        self._vehicle_roll = 0.0
        self._vehicle_pitch = 0.0
        
        self._receiver_roll = 0
        self._receiver_pitch = 0
        self._receiver_yaw = 0
        self._receiver_throttle = 0

        horizon_background_image = QtGui.QPixmap('./resources/artificialHorizonBackGround.svg')
        self._horizon_background_image = QtGui.QGraphicsPixmapItem(horizon_background_image)
        
        horizon_dial_image = QtGui.QPixmap('./resources/artificialHorizonDial.svg')
        horizon_dial_item = QtGui.QGraphicsPixmapItem(horizon_dial_image)
        horizon_dial_item.setPos(QtCore.QPointF(100.0, 390.0))
             
        horizon_compass_background = QtGui.QPixmap('./resources/artificialHorizonCompassBackGround.svg')
        horizon_compass_background_item = QtGui.QGraphicsPixmapItem(horizon_compass_background)
        horizon_compass_background_item.setPos(QtCore.QPointF(100.0, 390.0))
                       
        horizon_compass = QtGui.QPixmap('./resources/artificialHorizonCompass.svg')
        self._horizon_compass_item = QtGui.QGraphicsPixmapItem(horizon_compass)
        self._horizon_compass_item.setPos(QtCore.QPointF(100.0, 390.0)) 
        
        horizon_scene = QtGui.QGraphicsScene()
        horizon_scene.addItem(self._horizon_background_image)
        horizon_scene.addItem(horizon_dial_item)
        horizon_scene.addItem(horizon_compass_background_item)
        horizon_scene.addItem(self._horizon_compass_item)

        # Setup text info in artificial horizon_background_image
        rollLabel = horizon_scene.addText('Roll:')
        rollLabel.setDefaultTextColor(QtCore.Qt.white)
        rollLabel.setPos(102, 420)
        self.roll = horizon_scene.addText('0.0')
        self.roll.setDefaultTextColor(QtCore.Qt.white)
        self.roll.setPos(125, 420)
        pitchLabel = horizon_scene.addText('Pitch:')
        pitchLabel.setDefaultTextColor(QtCore.Qt.white)
        pitchLabel.setPos(102, 405)
        self.pitch = horizon_scene.addText('0.0')
        self.pitch.setDefaultTextColor(QtCore.Qt.white)
        self.pitch.setPos(132, 405)
        headingLabel = horizon_scene.addText('Heading:')
        headingLabel.setDefaultTextColor(QtCore.Qt.white)
        headingLabel.setPos(102, 390)
        self.heading = horizon_scene.addText('0.0')
        self.heading.setDefaultTextColor(QtCore.Qt.white)
        self.heading.setPos(147, 390)
        altitudeLabel = horizon_scene.addText('Altitude:')
        altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
        altitudeLabel.setPos(320, 390)
        self.altitude = horizon_scene.addText('000.0')
        self.altitude.setDefaultTextColor(QtCore.Qt.white)
        self.altitude.setPos(363, 390)
        altHoldLabel = horizon_scene.addText('Alt Hold:')
        altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
        altHoldLabel.setPos(331, 405)
        self.altitudeHold = horizon_scene.addText('Off')
        self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
        self.altitudeHold.setPos(374, 405)
        armLabel = horizon_scene.addText('Motors:')
        armLabel.setDefaultTextColor(QtCore.Qt.white)
        armLabel.setPos(102, 653)
        self.motorArm = horizon_scene.addText('Not Armed')
        self.motorArm.setDefaultTextColor(QtCore.Qt.red)
        self.motorArm.setPos(102, 668)
        battLabel = horizon_scene.addText('Batt:')
        battLabel.setDefaultTextColor(QtCore.Qt.white)
        battLabel.setPos(330, 653)
        self.batteryPower = horizon_scene.addText('0.000')
        self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
        self.batteryPower.setPos(357, 653)
        modeLabel = horizon_scene.addText('Mode:')
        modeLabel.setDefaultTextColor(QtCore.Qt.white)
        modeLabel.setPos(330, 668)
        self.flightMode = horizon_scene.addText('Acro')
        self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
        self.flightMode.setPos(362, 668)
        self.ui.artificialHorizon.setScene(horizon_scene)
        
        # Setup left transmitter stick
        leftStickScene = QtGui.QGraphicsScene()
        leftStickBackground = QtGui.QPixmap('./resources/TxDial.png')
        leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
        leftStickScene.addItem(leftStickItem)
        self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
        self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
        self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        leftStickScene.addItem(self.leftStick)
        self.ui.leftTransmitter.setScene(leftStickScene)
        
        # Setup right transmitter stick
        rightStickScene = QtGui.QGraphicsScene()
        rightStickBackground = QtGui.QPixmap('./resources/TxDial.png')
        rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
        rightStickScene.addItem(rightStickItem)
        self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
        self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
        self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        rightStickScene.addItem(self.rightStick)
        self.ui.rightTransmitter.setScene(rightStickScene)
        
        vehicle_event_dispatcher.register(self._flight_config_received, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
        vehicle_event_dispatcher.register(self._receiver_channel_count_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
        vehicle_event_dispatcher.register(self._motors_count_received, VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
        vehicle_event_dispatcher.register(self._motor_armed_event, VehicleEventDispatcher.MOTOR_ARMED_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._vehicle_roll_event, VehicleEventDispatcher.VEHICLE_ROLL_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._vehicle_pitch_event, VehicleEventDispatcher.VEHICLE_PITCH_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._vehicle_heading_event, VehicleEventDispatcher.VEHICLE_HEADING_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._vehicle_altitude_hold_state_event, VehicleEventDispatcher.ALTITUDE_HOLD_STATE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._vehicle_altitude_event, VehicleEventDispatcher.VEHICLE_ALTITUDE_PROPERTY_EVENT)
        
        vehicle_event_dispatcher.register(self._receiver_roll_event, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_pitch_event, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_yaw_event, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_throttle_event, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_mode_event, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_aux1_event, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_aux2_event, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_aux3_event, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_aux4_event, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_aux5_event, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_aux6_event, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._receiver_aux7_event, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
        
        vehicle_event_dispatcher.register(self._motor1_throttle_event, VehicleEventDispatcher.MOTOR1_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._motor2_throttle_event, VehicleEventDispatcher.MOTOR2_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._motor3_throttle_event, VehicleEventDispatcher.MOTOR3_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._motor4_throttle_event, VehicleEventDispatcher.MOTOR4_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._motor5_throttle_event, VehicleEventDispatcher.MOTOR5_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._motor6_throttle_event, VehicleEventDispatcher.MOTOR6_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._motor7_throttle_event, VehicleEventDispatcher.MOTOR7_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._motor8_throttle_event, VehicleEventDispatcher.MOTOR8_THROTTLE_PROPERTY_EVENT)
        
        vehicle_event_dispatcher.register(self._flight_mode_event, VehicleEventDispatcher.FLIGHT_MODE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(self._battery_voltage_received, VehicleEventDispatcher.BATTERY_VOLTAGE_PROPERTY_EVENT)
        
        ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
示例#47
0
    def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        self.ui = Ui_VehicleOverallStatusPanel()
        self.ui.setupUi(self)

        self._protocol_handler = None
        self._channel_count = 0
        self._flight_config = 'Quad +'
        self._channel_bar_gauge_array = []
        self._channels_label_array_text = ['Mode']
        self._channels_label_array_object = []
        self._motor_gauge_pixel_width = 25.0
        self._label_pixel_height = 25
        self._window_height = 400

        self._motors_count = 4
        self._vehicle_roll = 0.0
        self._vehicle_pitch = 0.0

        self._receiver_roll = 0
        self._receiver_pitch = 0
        self._receiver_yaw = 0
        self._receiver_throttle = 0

        horizon_background_image = QtGui.QPixmap(
            './resources/artificialHorizonBackGround.svg')
        self._horizon_background_image = QtGui.QGraphicsPixmapItem(
            horizon_background_image)

        horizon_dial_image = QtGui.QPixmap(
            './resources/artificialHorizonDial.svg')
        horizon_dial_item = QtGui.QGraphicsPixmapItem(horizon_dial_image)
        horizon_dial_item.setPos(QtCore.QPointF(100.0, 390.0))

        horizon_compass_background = QtGui.QPixmap(
            './resources/artificialHorizonCompassBackGround.svg')
        horizon_compass_background_item = QtGui.QGraphicsPixmapItem(
            horizon_compass_background)
        horizon_compass_background_item.setPos(QtCore.QPointF(100.0, 390.0))

        horizon_compass = QtGui.QPixmap(
            './resources/artificialHorizonCompass.svg')
        self._horizon_compass_item = QtGui.QGraphicsPixmapItem(horizon_compass)
        self._horizon_compass_item.setPos(QtCore.QPointF(100.0, 390.0))

        horizon_scene = QtGui.QGraphicsScene()
        horizon_scene.addItem(self._horizon_background_image)
        horizon_scene.addItem(horizon_dial_item)
        horizon_scene.addItem(horizon_compass_background_item)
        horizon_scene.addItem(self._horizon_compass_item)

        # Setup text info in artificial horizon_background_image
        rollLabel = horizon_scene.addText('Roll:')
        rollLabel.setDefaultTextColor(QtCore.Qt.white)
        rollLabel.setPos(102, 420)
        self.roll = horizon_scene.addText('0.0')
        self.roll.setDefaultTextColor(QtCore.Qt.white)
        self.roll.setPos(125, 420)
        pitchLabel = horizon_scene.addText('Pitch:')
        pitchLabel.setDefaultTextColor(QtCore.Qt.white)
        pitchLabel.setPos(102, 405)
        self.pitch = horizon_scene.addText('0.0')
        self.pitch.setDefaultTextColor(QtCore.Qt.white)
        self.pitch.setPos(132, 405)
        headingLabel = horizon_scene.addText('Heading:')
        headingLabel.setDefaultTextColor(QtCore.Qt.white)
        headingLabel.setPos(102, 390)
        self.heading = horizon_scene.addText('0.0')
        self.heading.setDefaultTextColor(QtCore.Qt.white)
        self.heading.setPos(147, 390)
        altitudeLabel = horizon_scene.addText('Altitude:')
        altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
        altitudeLabel.setPos(320, 390)
        self.altitude = horizon_scene.addText('000.0')
        self.altitude.setDefaultTextColor(QtCore.Qt.white)
        self.altitude.setPos(363, 390)
        altHoldLabel = horizon_scene.addText('Alt Hold:')
        altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
        altHoldLabel.setPos(331, 405)
        self.altitudeHold = horizon_scene.addText('Off')
        self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
        self.altitudeHold.setPos(374, 405)
        armLabel = horizon_scene.addText('Motors:')
        armLabel.setDefaultTextColor(QtCore.Qt.white)
        armLabel.setPos(102, 653)
        self.motorArm = horizon_scene.addText('Not Armed')
        self.motorArm.setDefaultTextColor(QtCore.Qt.red)
        self.motorArm.setPos(102, 668)
        battLabel = horizon_scene.addText('Batt:')
        battLabel.setDefaultTextColor(QtCore.Qt.white)
        battLabel.setPos(330, 653)
        self.batteryPower = horizon_scene.addText('0.000')
        self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
        self.batteryPower.setPos(357, 653)
        modeLabel = horizon_scene.addText('Mode:')
        modeLabel.setDefaultTextColor(QtCore.Qt.white)
        modeLabel.setPos(330, 668)
        self.flightMode = horizon_scene.addText('Acro')
        self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
        self.flightMode.setPos(362, 668)
        self.ui.artificialHorizon.setScene(horizon_scene)

        # Setup left transmitter stick
        leftStickScene = QtGui.QGraphicsScene()
        leftStickBackground = QtGui.QPixmap('./resources/TxDial.png')
        leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
        leftStickScene.addItem(leftStickItem)
        self.leftStick = QtGui.QGraphicsEllipseItem(
            QtCore.QRectF(75, 75, 30, 30))
        self.leftStick.setPen(
            QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
                       2))
        self.leftStick.setBrush(
            QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        leftStickScene.addItem(self.leftStick)
        self.ui.leftTransmitter.setScene(leftStickScene)

        # Setup right transmitter stick
        rightStickScene = QtGui.QGraphicsScene()
        rightStickBackground = QtGui.QPixmap('./resources/TxDial.png')
        rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
        rightStickScene.addItem(rightStickItem)
        self.rightStick = QtGui.QGraphicsEllipseItem(
            QtCore.QRectF(75, 75, 30, 30))
        self.rightStick.setPen(
            QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
                       2))
        self.rightStick.setBrush(
            QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        rightStickScene.addItem(self.rightStick)
        self.ui.rightTransmitter.setScene(rightStickScene)

        vehicle_event_dispatcher.register(
            self._flight_config_received,
            VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_channel_count_received,
            VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
        vehicle_event_dispatcher.register(
            self._motors_count_received,
            VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
        vehicle_event_dispatcher.register(
            self._motor_armed_event,
            VehicleEventDispatcher.MOTOR_ARMED_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._vehicle_roll_event,
            VehicleEventDispatcher.VEHICLE_ROLL_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._vehicle_pitch_event,
            VehicleEventDispatcher.VEHICLE_PITCH_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._vehicle_heading_event,
            VehicleEventDispatcher.VEHICLE_HEADING_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._vehicle_altitude_hold_state_event,
            VehicleEventDispatcher.ALTITUDE_HOLD_STATE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._vehicle_altitude_event,
            VehicleEventDispatcher.VEHICLE_ALTITUDE_PROPERTY_EVENT)

        vehicle_event_dispatcher.register(
            self._receiver_roll_event,
            VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_pitch_event,
            VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_yaw_event,
            VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_throttle_event,
            VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_mode_event,
            VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux1_event,
            VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux2_event,
            VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux3_event,
            VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux4_event,
            VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux5_event,
            VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux6_event,
            VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._receiver_aux7_event,
            VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)

        vehicle_event_dispatcher.register(
            self._motor1_throttle_event,
            VehicleEventDispatcher.MOTOR1_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._motor2_throttle_event,
            VehicleEventDispatcher.MOTOR2_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._motor3_throttle_event,
            VehicleEventDispatcher.MOTOR3_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._motor4_throttle_event,
            VehicleEventDispatcher.MOTOR4_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._motor5_throttle_event,
            VehicleEventDispatcher.MOTOR5_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._motor6_throttle_event,
            VehicleEventDispatcher.MOTOR6_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._motor7_throttle_event,
            VehicleEventDispatcher.MOTOR7_THROTTLE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._motor8_throttle_event,
            VehicleEventDispatcher.MOTOR8_THROTTLE_PROPERTY_EVENT)

        vehicle_event_dispatcher.register(
            self._flight_mode_event,
            VehicleEventDispatcher.FLIGHT_MODE_PROPERTY_EVENT)
        vehicle_event_dispatcher.register(
            self._battery_voltage_received,
            VehicleEventDispatcher.BATTERY_VOLTAGE_PROPERTY_EVENT)

        ui_event_dispatcher.register(self._protocol_handler_changed_event,
                                     UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
    def __init__(self, vehicle_model, message_sender):
        QtGui.QWidget.__init__(self)
        BasePanelController.__init__(self)
        
        self.vehicle_model = vehicle_model
        self.message_sender = message_sender
        
        self.ui = Ui_VehicleOverallStatusPanel()
        self.ui.setupUi(self)
        self.channelCount = 0
        self.rawData = ""
        
        # Setup artificial horizon    
        horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
        self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
        
        horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
        horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
        horizonDialItem.setPos(QtCore.QPointF(100.0, 390.0))
             
        horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
        horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
        horizonCompassBackGroundItem.setPos(QtCore.QPointF(100.0, 390.0))
                       
        horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
        self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
        self.horizonCompassItem.setPos(QtCore.QPointF(100.0, 390.0)) 
        
        horizonScene = QtGui.QGraphicsScene()
        horizonScene.addItem(self.horizonItem)
        horizonScene.addItem(horizonDialItem)
        horizonScene.addItem(horizonCompassBackGroundItem)
        horizonScene.addItem(self.horizonCompassItem)

        # Setup text info in artificial horizon
        rollLabel = horizonScene.addText("Roll:")
        rollLabel.setDefaultTextColor(QtCore.Qt.white)
        rollLabel.setPos(102, 420)
        self.roll = horizonScene.addText("0.0")
        self.roll.setDefaultTextColor(QtCore.Qt.white)
        self.roll.setPos(125, 420)
        pitchLabel = horizonScene.addText("Pitch:")
        pitchLabel.setDefaultTextColor(QtCore.Qt.white)
        pitchLabel.setPos(102, 405)
        self.pitch = horizonScene.addText("0.0")
        self.pitch.setDefaultTextColor(QtCore.Qt.white)
        self.pitch.setPos(132, 405)
        headingLabel = horizonScene.addText("Heading:")
        headingLabel.setDefaultTextColor(QtCore.Qt.white)
        headingLabel.setPos(102, 390)
        self.heading = horizonScene.addText("0.0")
        self.heading.setDefaultTextColor(QtCore.Qt.white)
        self.heading.setPos(147, 390)
        altitudeLabel = horizonScene.addText("Altitude:")
        altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
        altitudeLabel.setPos(320, 390)
        self.altitude = horizonScene.addText("000.0")
        self.altitude.setDefaultTextColor(QtCore.Qt.white)
        self.altitude.setPos(363, 390)
        altHoldLabel = horizonScene.addText("Alt Hold:")
        altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
        altHoldLabel.setPos(331, 405)
        self.altitudeHold = horizonScene.addText("Off")
        self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
        self.altitudeHold.setPos(374, 405)
        armLabel = horizonScene.addText("Motors:")
        armLabel.setDefaultTextColor(QtCore.Qt.white)
        armLabel.setPos(102, 653)
        self.motorArm = horizonScene.addText("Not Armed")
        self.motorArm.setDefaultTextColor(QtCore.Qt.red)
        self.motorArm.setPos(102, 668)
        battLabel = horizonScene.addText("Batt:")
        battLabel.setDefaultTextColor(QtCore.Qt.white)
        battLabel.setPos(330, 653)
        self.batteryPower = horizonScene.addText("0.000")
        self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
        self.batteryPower.setPos(357, 653)
        modeLabel = horizonScene.addText("Mode:")
        modeLabel.setDefaultTextColor(QtCore.Qt.white)
        modeLabel.setPos(330, 668)
        self.flightMode = horizonScene.addText("Acro")
        self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
        self.flightMode.setPos(362, 668)
        self.ui.artificialHorizon.setScene(horizonScene)
        
        # Setup left transmitter stick
        leftStickScene = QtGui.QGraphicsScene()
        leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
        leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
        leftStickScene.addItem(leftStickItem)
        self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
        self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
        self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        leftStickScene.addItem(self.leftStick)
        self.ui.leftTransmitter.setScene(leftStickScene)
        
        # Setup right transmitter stick
        rightStickScene = QtGui.QGraphicsScene()
        rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
        rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
        rightStickScene.addItem(rightStickItem)
        self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
        self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
        self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
        rightStickScene.addItem(self.rightStick)
        self.ui.rightTransmitter.setScene(rightStickScene)