diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/tuningcontrollertab.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/tuningcontrollertab.ui
index 72ae921f3c38b846aac809261e734ff8ec10ae61..9db1f6c553be536d00846bc632c537e20c40e56e 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/tuningcontrollertab.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/tuningcontrollertab.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1503</width>
- <height>814</height>
+ <width>1507</width>
+ <height>970</height>
</rect>
</property>
<property name="font">
@@ -33,7 +33,37 @@
<property name="bottomMargin">
<number>6</number>
</property>
- <item row="0" column="0">
+ <item row="10" column="1">
+ <widget class="QLabel" name="label_21">
+ <property name="text">
+ <string>step 3: repeat steps 1 and 2 until desired performance is achieved</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <spacer name="verticalSpacer_10">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>10</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="4" column="1">
+ <widget class="Line" name="line_10">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
<layout class="QGridLayout" name="gridLayout_3">
<property name="leftMargin">
<number>6</number>
@@ -47,7 +77,7 @@
<property name="bottomMargin">
<number>6</number>
</property>
- <item row="0" column="9">
+ <item row="1" column="9">
<layout class="QVBoxLayout" name="verticalLayout_6">
<property name="leftMargin">
<number>12</number>
@@ -103,7 +133,7 @@
</item>
</layout>
</item>
- <item row="0" column="2">
+ <item row="1" column="2">
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="leftMargin">
<number>12</number>
@@ -123,7 +153,7 @@
</item>
</layout>
</item>
- <item row="2" column="9">
+ <item row="3" column="9">
<layout class="QHBoxLayout" name="horizontalLayout_10">
<property name="leftMargin">
<number>12</number>
@@ -156,11 +186,14 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
</layout>
</item>
- <item row="0" column="0">
+ <item row="1" column="0">
<layout class="QVBoxLayout" name="verticalLayout">
<property name="leftMargin">
<number>6</number>
@@ -216,7 +249,7 @@
</item>
</layout>
</item>
- <item row="2" column="2">
+ <item row="3" column="2">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="leftMargin">
<number>12</number>
@@ -249,11 +282,14 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
</layout>
</item>
- <item row="0" column="7">
+ <item row="1" column="7">
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="leftMargin">
<number>12</number>
@@ -273,7 +309,7 @@
</item>
</layout>
</item>
- <item row="2" column="0">
+ <item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_4">
<property name="leftMargin">
<number>12</number>
@@ -306,11 +342,14 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
</layout>
</item>
- <item row="0" column="5">
+ <item row="1" column="5">
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="leftMargin">
<number>12</number>
@@ -376,7 +415,7 @@
</item>
</layout>
</item>
- <item row="0" column="8">
+ <item row="1" column="8">
<layout class="QHBoxLayout" name="horizontalLayout_7">
<property name="leftMargin">
<number>12</number>
@@ -396,14 +435,7 @@
</item>
</layout>
</item>
- <item row="3" column="2">
- <widget class="QSlider" name="horizontalSlider">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="0" column="6">
+ <item row="1" column="6">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<property name="leftMargin">
<number>12</number>
@@ -429,7 +461,7 @@
</item>
</layout>
</item>
- <item row="0" column="1">
+ <item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_8">
<property name="leftMargin">
<number>12</number>
@@ -449,7 +481,7 @@
</item>
</layout>
</item>
- <item row="2" column="7">
+ <item row="3" column="7">
<layout class="QHBoxLayout" name="horizontalLayout_9">
<property name="leftMargin">
<number>12</number>
@@ -482,11 +514,14 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
</layout>
</item>
- <item row="0" column="3">
+ <item row="1" column="3">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin">
<number>12</number>
@@ -506,7 +541,7 @@
</item>
</layout>
</item>
- <item row="2" column="5">
+ <item row="3" column="5">
<layout class="QHBoxLayout" name="horizontalLayout_5">
<property name="leftMargin">
<number>12</number>
@@ -539,46 +574,49 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
</layout>
</item>
- <item row="1" column="0">
+ <item row="2" column="0">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
- <item row="1" column="1">
+ <item row="2" column="1">
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
- <item row="1" column="2">
+ <item row="2" column="2">
<widget class="Line" name="line_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
- <item row="1" column="3">
+ <item row="2" column="3">
<widget class="Line" name="line_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
- <item row="1" column="5">
+ <item row="2" column="5">
<widget class="Line" name="line_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
- <item row="1" column="9">
+ <item row="2" column="9">
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>0</number>
@@ -598,28 +636,28 @@
</item>
</layout>
</item>
- <item row="1" column="6">
+ <item row="2" column="6">
<widget class="Line" name="line_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
- <item row="1" column="7">
+ <item row="2" column="7">
<widget class="Line" name="line_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
- <item row="1" column="8">
+ <item row="2" column="8">
<widget class="Line" name="line_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
- <item row="2" column="3">
+ <item row="3" column="3">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="leftMargin">
<number>12</number>
@@ -639,7 +677,7 @@
</item>
</layout>
</item>
- <item row="2" column="6">
+ <item row="3" column="6">
<layout class="QHBoxLayout" name="horizontalLayout_11">
<property name="leftMargin">
<number>12</number>
@@ -659,7 +697,7 @@
</item>
</layout>
</item>
- <item row="2" column="8">
+ <item row="3" column="8">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<property name="leftMargin">
<number>12</number>
@@ -679,9 +717,65 @@
</item>
</layout>
</item>
+ <item row="4" column="2">
+ <layout class="QHBoxLayout" name="horizontalLayout_14">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QSlider" name="slider_gain_P">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true"/>
+ </property>
+ <property name="maximum">
+ <number>1000</number>
+ </property>
+ <property name="pageStep">
+ <number>50</number>
+ </property>
+ <property name="value">
+ <number>100</number>
+ </property>
+ <property name="tracking">
+ <bool>false</bool>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="invertedAppearance">
+ <bool>false</bool>
+ </property>
+ <property name="invertedControls">
+ <bool>false</bool>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksBothSides</enum>
+ </property>
+ <property name="tickInterval">
+ <number>100</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
</layout>
</item>
- <item row="1" column="0">
+ <item row="11" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -694,6 +788,149 @@
</property>
</spacer>
</item>
+ <item row="2" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_13">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_18">
+ <property name="text">
+ <string>setpoint =</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_setpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_setpoint_toggle">
+ <property name="text">
+ <string>toggle</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item row="9" column="1">
+ <widget class="QLabel" name="label_20">
+ <property name="text">
+ <string>step 2: click toggle button to test the performance</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_17">
+ <property name="text">
+ <string>Horizontal Controller (Horizontal Regler)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <spacer name="verticalSpacer_8">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>10</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="8" column="1">
+ <widget class="QLabel" name="label_19">
+ <property name="text">
+ <string>step 1: adjust slider to change the gain</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="Line" name="line_11">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <spacer name="verticalSpacer_9">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>10</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="11" column="2">
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
</layout>
</item>
</layout>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h
index 2d4eaf3d6194d612c6fe5cbef2a66016813a5362..d296d0bb573a186106ec002a691af377ba9b26d1 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h
@@ -15,6 +15,13 @@ public:
explicit TuningControllerTab(QWidget *parent = 0);
~TuningControllerTab();
+private slots:
+ void on_button_setpoint_toggle_clicked();
+
+ void on_lineEdit_setpoint_editingFinished();
+
+ void on_slider_gain_P_valueChanged(int value);
+
private:
Ui::TuningControllerTab *ui;
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
index 98a271f51e9ba0c56c6e4d5c4d67bf44a5628d1b..801865ddde106ad50d89c6c5f412f2256ba99904 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
@@ -12,3 +12,18 @@ TuningControllerTab::~TuningControllerTab()
{
delete ui;
}
+
+void TuningControllerTab::on_button_setpoint_toggle_clicked()
+{
+
+}
+
+void TuningControllerTab::on_lineEdit_setpoint_editingFinished()
+{
+
+}
+
+void TuningControllerTab::on_slider_gain_P_valueChanged(int value)
+{
+
+}