diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
index 78fdb9b5004a386a2fefded7f36bc29e28901540..42880b16bf944b158afc5ec23e3908806c19df32 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
@@ -25,6 +25,7 @@ SOURCES += src/main.cpp\
src/topbanner.cpp \
src/connectstartstopbar.cpp \
src/enablecontrollerloadyamlbar.cpp \
+ src/controllerstatusbanner.cpp \
src/controllertabs.cpp \
src/csonecontrollertab.cpp \
src/safecontrollertab.cpp \
@@ -42,6 +43,7 @@ HEADERS += include/mainwindow.h \
include/topbanner.h \
include/connectstartstopbar.h \
include/enablecontrollerloadyamlbar.h \
+ include/controllerstatusbanner.h \
include/controllertabs.h \
include/csonecontrollertab.h \
include/safecontrollertab.h \
@@ -56,12 +58,12 @@ HEADERS += include/mainwindow.h \
include/remotecontrollertab.h
-
FORMS += forms/mainwindow.ui \
forms/topbanner.ui \
forms/connectstartstopbar.ui \
forms/enablecontrollerloadyamlbar.ui \
forms/controllertabs.ui \
+ forms/controllerstatusbanner.ui \
forms/csonecontrollertab.ui \
forms/safecontrollertab.ui \
forms/coordinator.ui \
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllerstatusbanner.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllerstatusbanner.ui
new file mode 100644
index 0000000000000000000000000000000000000000..30abcf0ca82045e3d13b044e24280265f832e4b5
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllerstatusbanner.ui
@@ -0,0 +1,257 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ControllerStatusBanner</class>
+ <widget class="QWidget" name="ControllerStatusBanner">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>173</width>
+ <height>1282</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QFrame" name="frame_isOff">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(160,40,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>15</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isOff">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>O
+F
+F</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_isActive">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(40,120,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>15</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isActive">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>A
+C
+T
+I
+V
+E</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_isCoord">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(150,150,150)</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_4">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>15</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isCoord">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>C
+O
+O
+R
+D</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
index 155dff174d9d08a6ec80698a61ec2938546c47be..a8ef9a1cff131451b762926f4112e4bfc7d908e4 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
@@ -64,7 +64,7 @@
<x>0</x>
<y>0</y>
<width>1638</width>
- <height>595</height>
+ <height>576</height>
</rect>
</property>
</widget>
@@ -170,7 +170,7 @@ F</string>
<x>0</x>
<y>0</y>
<width>1638</width>
- <height>595</height>
+ <height>576</height>
</rect>
</property>
</widget>
@@ -367,7 +367,7 @@ F</string>
<x>0</x>
<y>0</y>
<width>1638</width>
- <height>595</height>
+ <height>576</height>
</rect>
</property>
</widget>
@@ -406,7 +406,7 @@ F</string>
<x>0</x>
<y>0</y>
<width>1638</width>
- <height>595</height>
+ <height>576</height>
</rect>
</property>
</widget>
@@ -512,7 +512,7 @@ F</string>
<x>0</x>
<y>0</y>
<width>1638</width>
- <height>595</height>
+ <height>576</height>
</rect>
</property>
</widget>
@@ -618,7 +618,7 @@ F</string>
<x>0</x>
<y>0</y>
<width>1638</width>
- <height>595</height>
+ <height>576</height>
</rect>
</property>
</widget>
@@ -713,7 +713,7 @@ F</string>
<property name="spacing">
<number>5</number>
</property>
- <item row="0" column="1">
+ <item row="0" column="2">
<widget class="QScrollArea" name="scrollArea_template">
<property name="widgetResizable">
<bool>true</bool>
@@ -723,8 +723,8 @@ F</string>
<rect>
<x>0</x>
<y>0</y>
- <width>1638</width>
- <height>595</height>
+ <width>1553</width>
+ <height>576</height>
</rect>
</property>
</widget>
@@ -797,6 +797,28 @@ F</string>
</layout>
</widget>
</item>
+ <item row="0" column="1">
+ <widget class="ControllerStatusBanner" name="widget" native="true">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</widget>
@@ -846,6 +868,12 @@ F</string>
<header>csonecontrollertab.h</header>
<container>1</container>
</customwidget>
+ <customwidget>
+ <class>ControllerStatusBanner</class>
+ <extends>QWidget</extends>
+ <header>controllerstatusbanner.h</header>
+ <container>1</container>
+ </customwidget>
</customwidgets>
<resources/>
<connections/>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllerstatusbanner.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllerstatusbanner.h
new file mode 100644
index 0000000000000000000000000000000000000000..8222fee2ed603e8d339482ee7fb8f0ecdf52afff
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllerstatusbanner.h
@@ -0,0 +1,22 @@
+#ifndef CONTROLLERSTATUSBANNER_H
+#define CONTROLLERSTATUSBANNER_H
+
+#include <QWidget>
+
+namespace Ui {
+class ControllerStatusBanner;
+}
+
+class ControllerStatusBanner : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit ControllerStatusBanner(QWidget *parent = 0);
+ ~ControllerStatusBanner();
+
+private:
+ Ui::ControllerStatusBanner *ui;
+};
+
+#endif // CONTROLLERSTATUSBANNER_H
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllerstatusbanner.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllerstatusbanner.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..273bed5b110ad47c0ecc621cec440799338b6625
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllerstatusbanner.cpp
@@ -0,0 +1,19 @@
+#include "controllerstatusbanner.h"
+#include "ui_controllerstatusbanner.h"
+
+ControllerStatusBanner::ControllerStatusBanner(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::ControllerStatusBanner)
+{
+ ui->setupUi(this);
+
+ // HIDE ALL EXCEPT THE "OFF" BANNER
+ ui->frame_isActive->show();
+ ui->frame_isActive->hide();
+ ui->frame_isCoord->hide();
+}
+
+ControllerStatusBanner::~ControllerStatusBanner()
+{
+ delete ui;
+}