diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro.user b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro.user
index ebe2fd318daacb38ff1ff2efeefde05df86d619b..13d53214d559b938f2acc8a24ac64a7286603676 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro.user
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro.user
@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.0.2, 2017-08-15T15:30:19. -->
+<!-- Written by QtCreator 3.5.1, 2017-09-08T11:50:18. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
- <value type="QByteArray">{72576140-2426-4e8d-b4f8-00ed8021ee7f}</value>
+ <value type="QByteArray">{1400dcd4-82c6-466c-a808-34f7a3d4fe21}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,7 +40,6 @@
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
- <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
<value type="int" key="EditorConfiguration.TabSize">8</value>
@@ -59,21 +58,22 @@
<data>
<variable>ProjectExplorer.Project.Target.0</variable>
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- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop Qt 5.7.0 GCC 64bit</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">qt.57.gcc_64_kit</value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{051621a5-413a-4a38-907c-a6d036ac454e}</value>
<value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
- <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/gazebo-cf/work/D-FaLL-System/pps_ws/src/d_fall_pps/GUI_Qt/build-CrazyFlyGUI-Desktop_Qt_5_7_0_GCC_64bit-Debug</value>
+ <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/ppsteacher/work/D-FaLL-System/pps_ws/src/d_fall_pps/GUI_Qt/build-CrazyFlyGUI-Desktop-Debug</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">qmake</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">true</value>
+ <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">false</value>
+ <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibraryAuto">true</value>
<value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.SeparateDebugInfo">false</value>
@@ -126,7 +126,7 @@
<value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.1">
- <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/gazebo-cf/work/D-FaLL-System/pps_ws/src/d_fall_gui/GUI_Qt/build-CrazyFlyGUI-Desktop_Qt_5_7_0_GCC_64bit-Release</value>
+ <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/ppsteacher/work/D-FaLL-System/pps_ws/src/d_fall_pps/GUI_Qt/build-CrazyFlyGUI-Desktop-Release</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
@@ -134,6 +134,7 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">false</value>
+ <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibraryAuto">true</value>
<value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.SeparateDebugInfo">false</value>
@@ -185,67 +186,7 @@
<value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">0</value>
<value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
</valuemap>
- <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.2">
- <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/gazebo-cf/work/D-FaLL-System/pps_ws/src/d_fall_gui/GUI_Qt/build-CrazyFlyGUI-Desktop_Qt_5_7_0_GCC_64bit-Profile</value>
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
- <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">qmake</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">true</value>
- <value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.SeparateDebugInfo">true</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.UseQtQuickCompiler">false</value>
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- <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
- <value type="QString">-w</value>
- <value type="QString">-r</value>
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- <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments"></value>
- <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
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- <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
- <value type="QString">-w</value>
- <value type="QString">-r</value>
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- <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
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- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
- <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
- <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Profile</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4BuildConfiguration</value>
- <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">0</value>
- <value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">3</value>
+ <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">2</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
@@ -261,11 +202,6 @@
<value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
- <value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
- <value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
- <value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
- <value type="QString" key="Analyzer.QmlProfiler.LastTraceFile"></value>
- <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
@@ -303,14 +239,13 @@
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">CrazyFlyGUI</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">CrazyFlyGUI2</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/gazebo-cf/work/D-FaLL-System/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro</value>
- <value type="bool" key="QmakeProjectManager.QmakeRunConfiguration.UseLibrarySearchPath">true</value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/ppsteacher/work/D-FaLL-System/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro</value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.CommandLineArguments"></value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">CrazyFlyGUI.pro</value>
<value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseDyldImageSuffix">false</value>
+ <value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseTerminal">false</value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory"></value>
- <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory.default">/home/gazebo-cf/work/D-FaLL-System/pps_ws/src/d_fall_pps/GUI_Qt/build-CrazyFlyGUI-Desktop_Qt_5_7_0_GCC_64bit-Debug</value>
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
index 5c1e56bef1983e3fca9409a4ec6a56ea4a2d6f58..a634c4a31ee8375bcfbf752d9d8d8996ba3c0fa8 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
@@ -20,7 +20,9 @@
#include <std_msgs/Int32.h>
+#define CMD_CRAZYFLY_MOTORS_OFF 5
using namespace d_fall_pps;
+
#endif
@@ -132,6 +134,8 @@ private slots:
void on_comboBoxCFs_currentTextChanged(const QString &arg1);
+ void on_all_motors_off_button_clicked();
+
private:
Ui::MainGUIWindow *ui;
@@ -146,6 +150,7 @@ private:
CFLinker* cf_linker;
ros::Publisher DBChangedPublisher;
+ ros::Publisher emergencyStopPublisher;
#endif
void updateComboBoxesCFs();
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index 8c2614a2168af42320b8e11bc8cc346b57388fd0..cc4fe38881ab527f241c3a48a9411d3e8f29c4d6 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -23,6 +23,7 @@
#include <ros/ros.h>
#include <ros/network.h>
+#include <ros/package.h>
#endif
@@ -198,6 +199,7 @@ void MainGUIWindow::_init()
ros::NodeHandle nodeHandle("~");
DBChangedPublisher = nodeHandle.advertise<std_msgs::Int32>("DBChanged", 1);
+ emergencyStopPublisher = nodeHandle.advertise<std_msgs::Int32>("emergencyStop", 1);
#endif
}
@@ -926,3 +928,10 @@ void MainGUIWindow::on_comboBoxCFs_currentTextChanged(const QString &arg1)
ROS_INFO("name not found in LUT");
}
}
+
+
+void MainGUIWindow::on_all_motors_off_button_clicked()
+{
+ std_msgs::Int32 msg;
+ msg.data = CMD_CRAZYFLY_MOTORS_OFF;
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
index 13c41f36f05c8e9ea8d7472064f0d81367e5a6fd..725dbd1e12d9720528e67b6643f4fbd65ff6c58d 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>866</width>
- <height>763</height>
+ <height>820</height>
</rect>
</property>
<property name="windowTitle">
@@ -110,7 +110,7 @@
<string>What to show</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
- <item row="3" column="0">
+ <item row="4" column="0">
<widget class="QCheckBox" name="checkBox_grid">
<property name="font">
<font>
@@ -125,7 +125,7 @@
</property>
</widget>
</item>
- <item row="4" column="0">
+ <item row="5" column="0">
<widget class="QCheckBox" name="checkBox_table">
<property name="font">
<font>
@@ -140,7 +140,7 @@
</property>
</widget>
</item>
- <item row="7" column="0">
+ <item row="8" column="0">
<widget class="QCheckBox" name="checkBox_vicon_crazyflies">
<property name="font">
<font>
@@ -155,7 +155,7 @@
</property>
</widget>
</item>
- <item row="0" column="0">
+ <item row="1" column="0">
<widget class="QCheckBox" name="checkBox_crazyfly_zones">
<property name="font">
<font>
@@ -170,7 +170,7 @@
</property>
</widget>
</item>
- <item row="1" column="0">
+ <item row="2" column="0">
<widget class="QCheckBox" name="checkBox_vicon_markers">
<property name="font">
<font>
@@ -185,7 +185,7 @@
</property>
</widget>
</item>
- <item row="7" column="1">
+ <item row="8" column="1">
<widget class="QDoubleSpinBox" name="scaleSpinBox">
<property name="font">
<font>
@@ -194,7 +194,7 @@
</property>
</widget>
</item>
- <item row="1" column="1">
+ <item row="2" column="1">
<widget class="QCheckBox" name="checkBox_vicon_highlight_markers">
<property name="font">
<font>
@@ -248,6 +248,13 @@
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QPushButton" name="all_motors_off_button">
+ <property name="text">
+ <string>All motors OFF</string>
+ </property>
+ </widget>
+ </item>
<item>
<widget class="QTabWidget" name="tabWidget_2">
<property name="currentIndex">
@@ -258,7 +265,7 @@
<string>Links</string>
</attribute>
<layout class="QGridLayout" name="gridLayout">
- <item row="5" column="1" colspan="6">
+ <item row="6" column="1" colspan="6">
<widget class="QLabel" name="err_message_student_id">
<property name="font">
<font>
@@ -270,7 +277,7 @@
</property>
</widget>
</item>
- <item row="14" column="1" colspan="6">
+ <item row="15" column="1" colspan="6">
<widget class="QLabel" name="err_message_cf_zone">
<property name="font">
<font>
@@ -282,7 +289,7 @@
</property>
</widget>
</item>
- <item row="9" column="1" colspan="6">
+ <item row="10" column="1" colspan="6">
<widget class="QLabel" name="err_message_cf">
<property name="font">
<font>
@@ -294,7 +301,7 @@
</property>
</widget>
</item>
- <item row="4" column="1">
+ <item row="5" column="1">
<widget class="QSpinBox" name="spinBox_student_ids">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -323,34 +330,34 @@
</property>
</widget>
</item>
- <item row="13" column="1">
- <widget class="QComboBox" name="comboBoxCFZones"/>
- </item>
- <item row="8" column="1">
+ <item row="9" column="1">
<widget class="QComboBox" name="comboBoxCFs"/>
</item>
- <item row="3" column="1">
+ <item row="14" column="1">
+ <widget class="QComboBox" name="comboBoxCFZones"/>
+ </item>
+ <item row="4" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Choose Student ID:</string>
</property>
</widget>
</item>
- <item row="6" column="1">
+ <item row="7" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Choose CF to link:</string>
</property>
</widget>
</item>
- <item row="12" column="1">
+ <item row="13" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Choose CF Zone to link:</string>
</property>
</widget>
</item>
- <item row="8" column="6">
+ <item row="9" column="6">
<widget class="QPushButton" name="refresh_cfs_button">
<property name="text">
<string>Refresh CFs</string>
@@ -364,7 +371,7 @@
</property>
</widget>
</item>
- <item row="15" column="1" colspan="6">
+ <item row="16" column="1" colspan="6">
<widget class="QTableWidget" name="table_links">
<property name="minimumSize">
<size>
@@ -382,56 +389,56 @@
<number>0</number>
</property>
<attribute name="horizontalHeaderVisible">
- <bool>true</bool>
+ <bool>false</bool>
</attribute>
</widget>
</item>
- <item row="13" column="6">
+ <item row="14" column="6">
<widget class="QPushButton" name="link_button">
<property name="text">
<string>Link!</string>
</property>
</widget>
</item>
- <item row="17" column="6">
+ <item row="18" column="6">
<widget class="QPushButton" name="unlink_button">
<property name="text">
<string>Unlink!</string>
</property>
</widget>
</item>
- <item row="19" column="6">
+ <item row="20" column="6">
<widget class="QPushButton" name="save_in_DB_button">
<property name="text">
<string>Save in DB</string>
</property>
</widget>
</item>
- <item row="18" column="6">
+ <item row="11" column="6">
+ <widget class="QLineEdit" name="radioAddress_text">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ <property name="clearButtonEnabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="19" column="6">
<widget class="QPushButton" name="load_from_DB_button">
<property name="text">
<string>Load from DB</string>
</property>
</widget>
</item>
- <item row="10" column="1">
+ <item row="11" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string>Radio Address:</string>
</property>
</widget>
</item>
- <item row="10" column="6">
- <widget class="QLineEdit" name="radioAddress_text">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- <property name="clearButtonEnabled">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item row="11" column="6">
+ <item row="12" column="6">
<widget class="QLabel" name="err_message_radio_address">
<property name="font">
<font>
@@ -495,7 +502,7 @@
<x>0</x>
<y>0</y>
<width>866</width>
- <height>19</height>
+ <height>25</height>
</rect>
</property>
</widget>
diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index 005201c05ae77642a883d4044ef1065718ff4b8a..965f0786ee79f84b1c0f0b8d713d2a69967e3460 100644
--- a/pps_ws/src/d_fall_pps/param/Crazyflie.db
+++ b/pps_ws/src/d_fall_pps/param/Crazyflie.db
@@ -1 +1,3 @@
-4,PPS_CF05,0/32/2M,0,-0.18599,-0.308665,-0.2,0.736046,0.451125,2
+4,PPS_CF01,0/0/2M,0,-1.03434,-0.0437254,-0.2,-0.311568,0.520142,2
+5,PPS_CF02,0/8/2M,1,-0.197242,-0.0777012,-0.2,0.493104,0.448276,2
+6,PPS_CF08,0/56/2M,2,0.204585,1.00987,-0.2,0.820217,1.79884,2
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 244a07254caa9b2fac01058915b2b408a9c91d4c..65ac933b48aa313bba33091ad10852917929ad0d 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -579,6 +579,11 @@ void DBChangedCallback(const std_msgs::Int32& msg)
loadCrazyflieContext();
}
+void emergencyStopCallback(const std_msgs::Int32& msg)
+{
+ commandCallback(msg);
+}
+
void crazyRadioStatusCallback(const std_msgs::Int32& msg)
{
crazyradio_status = msg.data;
@@ -671,6 +676,9 @@ int main(int argc, char* argv[])
// subscriber for DBChanged
ros::Subscriber DBChangedSubscriber = namespaceNodeHandle.subscribe("/my_GUI/DBChanged", 1, DBChangedCallback);
+ // subscriber for emergencyStop
+ ros::Subscriber emergencyStopSubscriber = namespaceNodeHandle.subscribe("/my_GUI/emergencyStop", 1, emergencyStopCallback);
+
// crazyradio status. Connected, connecting or disconnected
ros::Subscriber crazyRadioStatusSubscriber = namespaceNodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, crazyRadioStatusCallback);