.gitignore

-pps_ws/build/
-pps_ws/devel/
+dfall_ws/build/
+dfall_ws/devel/
 
-pps_ws/src/d_fall_pps/lib/vicon/
-pps_ws/src/d_fall_pps/include/DataStreamClient.h
+dfall_ws/src/dfall_pkg/lib/vicon/
+dfall_ws/src/dfall_pkg/include/DataStreamClient.h
+dfall_ws/src/dfall_pkg/include/IDataStreamClientBase.h
 
+dfall_ws/src/CMakeLists.txt
+
+# Qt Project files with user preferences
+*.pro.user
+*.pro.user.*
 
 *.pyc
 *.orig
@@ -11,4 +17,25 @@ pps_ws/src/d_fall_pps/include/DataStreamClient.h
 
 TAGS
 build-*
-Crazyflie.db
+
+# For LaTeX files in the wiki
+wiki/latex/*
+!wiki/latex/*.tex
+
+# NOTES:
+# > To keep track of configuration-type files that
+#   are part of the repository, BUT for whcih
+#   changes are NOT tracked.
+# > These files are "skipped" from tracking using
+#   the following syntax:
+#   >> git update-index --skip-worktree <FILENAME>
+# > The files that should be "skipped" are:
+#   >> dfall_ws/src/dfall_pkg/launch/Config.sh
+#   >> dfall_ws/src/dfall_pkg/param/Crazyflie.db
+# > To return these files to normal tracking use
+#   the following syntax:
+#   >> git update-index --no-skip-worktree <FILENAME>
+# > "Skipping" is a setting local to your copy of the
+#   repository because ".git ignoring" a file already
+#   in the repository does NOT stop changes from being
+#   tracked

crazyflie-firmware/README.md

-The repository this patch was done from is this one:
+# Instructions for Applying Firmware Patches
+
+The repository that these patches are applicable for is:<br>
 https://github.com/bitcraze/crazyflie-firmware
 
-And the hash from the exact commit we pulled from:
+However, it is easiest to locate the official realease versions of the firmware from here:<br>
+https://github.com/bitcraze/crazyflie-release/releases
 
-f4d21213d7ce37d7ed7338fad0f9a94a96cec191
+The complete instructions for applying the patch are given separately for each firmware version (currently only one firmware version).
 
-To apply the patch, just write the following commands:
 
-`git clone https://github.com/bitcraze/crazyflie-firmware.git`<br>
-`cd crazyflie-firmware`<br>
-`git submodule init && git submodule update`<br>
-`git checkout f4d21213d7ce37d7ed7338fad0f9a94a96cec191`<br>
-`git apply <folder_to_D-FaLL-System_repository>/crazyflie_firmware/firmware_modifications.patch`<br>
 
-Now the repository is ready to compile. To do it, first make sure that you have
-installed the toolchain. To install it:<br>
+
+
+## Install Compilation Toolchain
+
+For compilation on Ubuntu 18.04, the toolchain is installed with the following commands:<br>
+`sudo apt install gcc-arm-none-eabi`<br>
+
+For compilation on Ubuntu 16.04, the toolchain is installed with the following commands:<br>
 `sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa`<br>
 `sudo apt-get update`<br>
 `sudo apt-get install libnewlib-arm-none-eabi`<br>
 
-Then, in the `crazyflie-firmware` folder where you applied the patch, do:<br>
-`make PLATFORM=CF2`
+
+
+
+
+## Firware Version 2020-02
+
+The hash of the exact commit to which this patch applies is:<br>
+`e27cd170b7eb8be7ed1cbbc9f5622b469d335d97`<br>
+As commited on Mon Feb 3 15:04:52 2020 +0100
+
+To apply the patch, use the following sequence of commands:
+
+**Step 1:** Clone the repository and checkout the appropriate commit:<br>
+`git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git`<br>
+`cd crazyflie-firmware`<br>
+`git checkout e27cd170b7eb8be7ed1cbbc9f5622b469d335d97`<br>
+Note that it is also possible to checkout this commit using the commit tag, i.e., using `git checkout 2020.02`
+
+
+**Step 2:** Apply the patch:<br>
+`git apply <folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-20/firmware_modifications_for_version_2020-20.patch`<br>
+
+Now the repository is ready to compile. To do this, first make sure that you have
+installed the necessary toolchain as described above ([Install Compilation Toolchain](#install-compilation-toolchain)).
+
+**Step 3:** In the `crazyflie-firmware` folder where you applied the patch, compile the firmware using the following command:<br>
+`make PLATFORM=cf2`
 
 If everything is successful, you will see something like this:<br>
 
-<img src="./../pps_wiki/pics/success_building.png" style="width: 400px;"/> <br><br>
+<img src="success_building_for_version_2020-02.png" style="width: 400px;"/> <br><br>
+
+This should have created the binary file `cf2.bin`.
+
+**Step 4:** upload the binary to the crazyflie processor by following the instructions given here:<br>
+https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw<br>
+Instructions are also given in the wiki of this repository under:
+`/wiki/setup.md#firmware`
 
-Now the binary file cf2.bin has been created, and can be directly uploaded to
-the crazyflie
+The pre-compiled binary files are already included in this repository. To update the firmware of just the main processor, select the file:
+`<folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-02/cf2-2020.02_withDfallPatch.bin`<br>
 
+To update the firmware of both the main processor and the nrf processor, select the file:<br>
+`<folder_to_dfall-system_repository>/crazyflie_firmware/crazyflie-firmware-version-2020-02/firmware-cf2-2020.02_withDfallPatch.zip`<br>
\ No newline at end of file

crazyflie-firmware/crazyflie-firmware-version-2020-02/manifest.json

+{"subversion": 2, "release": "2020.02", "fw_platform": "cf2", "version": 1, "files": {"cf2-2020.02_withDfallPatch.bin": {"release": "2020.02", "platform": "cf2", "type": "fw", "target": "stm32", "repository": "crazyflie-firmware"}, "cf2_nrf-2020.02.bin": {"release": "2020.02", "platform": "cf2", "type": "fw", "target": "nrf51", "repository": "crazyflie2-nrf-firmware"}}}
\ No newline at end of file

crazyflie-firmware/firmware_modifications.patch

-diff --git a/src/modules/interface/attitude_controller.h b/src/modules/interface/attitude_controller.h
-index ad23ef0..f79b7d1 100644
---- a/src/modules/interface/attitude_controller.h
-+++ b/src/modules/interface/attitude_controller.h
-@@ -63,6 +63,11 @@ void attitudeControllerResetRollAttitudePID(void);
-  */
- void attitudeControllerResetPitchAttitudePID(void);
- 
-+/**
-+ * Reset controller yaw attitude PID
-+ */
-+void attitudeControllerResetYawAttitudePID(void);
-+
- /**
-  * Reset controller roll, pitch and yaw PID's.
-  */
-diff --git a/src/modules/interface/stabilizer_types.h b/src/modules/interface/stabilizer_types.h
-index 418cc0b..30d031b 100644
---- a/src/modules/interface/stabilizer_types.h
-+++ b/src/modules/interface/stabilizer_types.h
-@@ -144,6 +144,10 @@ typedef struct control_s {
-   int16_t pitch;
-   int16_t yaw;
-   float thrust;
-+  uint16_t cmd1;
-+  uint16_t cmd2;
-+  uint16_t cmd3;
-+  uint16_t cmd4;
- } control_t;
- 
- typedef enum mode_e {
-@@ -152,12 +156,24 @@ typedef enum mode_e {
-   modeVelocity
- } stab_mode_t;
- 
-+typedef enum pps_mode_e {
-+  modeDisabled = 0,
-+  modeMotors,
-+  modeRate,
-+  modeAngle
-+} pps_mode_t;
-+
- typedef struct setpoint_s {
-   uint32_t timestamp;
- 
-   attitude_t attitude;
-   attitude_t attitudeRate;
-   float thrust;
-+  pps_mode_t pps_mode;
-+  uint16_t cmd1;
-+  uint16_t cmd2;
-+  uint16_t cmd3;
-+  uint16_t cmd4;
-   point_t position;
-   velocity_t velocity;
-   bool velocity_body;
-diff --git a/src/modules/src/attitude_pid_controller.c b/src/modules/src/attitude_pid_controller.c
-index 8b5f4aa..f16288f 100644
---- a/src/modules/src/attitude_pid_controller.c
-+++ b/src/modules/src/attitude_pid_controller.c
-@@ -142,9 +142,14 @@ void attitudeControllerResetRollAttitudePID(void)
- 
- void attitudeControllerResetPitchAttitudePID(void)
- {
--    pidReset(&pidRoll);
-+    pidReset(&pidPitch);
- }
- 
-+void attitudeControllerResetYawAttitudePID(void)
-+{
-+    pidReset(&pidYaw);
-+}
-+
- void attitudeControllerResetAllPID(void)
- {
-   pidReset(&pidRoll);
-diff --git a/src/modules/src/controller_pid.c b/src/modules/src/controller_pid.c
-index 0e5e62d..516315a 100644
---- a/src/modules/src/controller_pid.c
-+++ b/src/modules/src/controller_pid.c
-@@ -51,9 +51,13 @@ void stateController(control_t *control, setpoint_t *setpoint,
-   }
- 
-   if (RATE_DO_EXECUTE(POSITION_RATE, tick)) {
--    positionController(&actuatorThrust, &attitudeDesired, setpoint, state);
-+      if(setpoint->pps_mode != modeMotors && setpoint->pps_mode != modeRate && setpoint->pps_mode != modeAngle)
-+      {
-+          positionController(&actuatorThrust, &attitudeDesired, setpoint, state);
-+      }
-   }
- 
-+
-   if (RATE_DO_EXECUTE(ATTITUDE_RATE, tick)) {
-     // Switch between manual and automatic position control
-     if (setpoint->mode.z == modeDisable) {
-@@ -63,7 +67,7 @@ void stateController(control_t *control, setpoint_t *setpoint,
-       attitudeDesired.roll = setpoint->attitude.roll;
-       attitudeDesired.pitch = setpoint->attitude.pitch;
-     }
--
-+    /* if everything is modeVelocity, skip this */
-     attitudeControllerCorrectAttitudePID(state->attitude.roll, state->attitude.pitch, state->attitude.yaw,
-                                 attitudeDesired.roll, attitudeDesired.pitch, attitudeDesired.yaw,
-                                 &rateDesired.roll, &rateDesired.pitch, &rateDesired.yaw);
-@@ -80,6 +84,12 @@ void stateController(control_t *control, setpoint_t *setpoint,
-       attitudeControllerResetPitchAttitudePID();
-     }
- 
-+    //added for PPSSafeController to make the Onboard Controller using the external YawRate. Pure speed controller, no position/500 small steps
-+    if (setpoint->mode.yaw == modeVelocity) {
-+      rateDesired.yaw = (-1) * setpoint->attitudeRate.yaw;
-+      attitudeControllerResetYawAttitudePID();
-+    }
-+
-     // TODO: Investigate possibility to subtract gyro drift.
-     attitudeControllerCorrectRatePID(sensors->gyro.x, -sensors->gyro.y, sensors->gyro.z,
-                              rateDesired.roll, rateDesired.pitch, rateDesired.yaw);
-@@ -100,19 +110,76 @@ void stateController(control_t *control, setpoint_t *setpoint,
-     control->thrust = actuatorThrust;
-   }
- 
--  if (control->thrust == 0)
-+  if(setpoint->pps_mode == modeMotors)
-   {
--    control->thrust = 0;
--    control->roll = 0;
--    control->pitch = 0;
--    control->yaw = 0;
--
--    attitudeControllerResetAllPID();
--    positionControllerResetAllPID();
--
--    // Reset the calculated YAW angle for rate control
--    attitudeDesired.yaw = state->attitude.yaw;
-+      control->roll = 0;
-+      control->pitch = 0;
-+      control->yaw = 0;
-+      control->cmd1 = setpoint->cmd1;
-+      control->cmd2 = setpoint->cmd2;
-+      control->cmd3 = setpoint->cmd3;
-+      control->cmd4 = setpoint->cmd4;
-+      if ((control->cmd1 == 0 && control->cmd2 == 0 && control->cmd3 == 0 && control->cmd4 == 0))
-+      {
-+          control->cmd1 = 0;
-+          control->cmd2 = 0;
-+          control->cmd3 = 0;
-+          control->cmd4 = 0;
-+          control->roll = 0;
-+          control->pitch = 0;
-+          control->yaw = 0;
-+
-+          attitudeControllerResetAllPID();
-+          positionControllerResetAllPID();
-+
-+          // Reset the calculated YAW angle for rate control
-+          attitudeDesired.yaw = state->attitude.yaw;
-+      }
-+  }
-+  else if(setpoint->pps_mode == modeRate || setpoint->pps_mode == modeAngle)
-+  {
-+      control->cmd1 = setpoint->cmd1;
-+      control->cmd2 = setpoint->cmd2;
-+      control->cmd3 = setpoint->cmd3;
-+      control->cmd4 = setpoint->cmd4;
-+      if ((control->cmd1 == 0 && control->cmd2 == 0 && control->cmd3 == 0 && control->cmd4 == 0))
-+      {
-+          control->cmd1 = 0;
-+          control->cmd2 = 0;
-+          control->cmd3 = 0;
-+          control->cmd4 = 0;
-+          control->roll = 0;
-+          control->pitch = 0;
-+          control->yaw = 0;
-+
-+          attitudeControllerResetAllPID();
-+          positionControllerResetAllPID();
-+
-+          // Reset the calculated YAW angle for rate control
-+          attitudeDesired.yaw = state->attitude.yaw;
-+      }
-   }
-+  else                          /* pps_mode == modeDisabled */
-+  {
-+      control->cmd1 = control->thrust;
-+      control->cmd2 = control->thrust;
-+      control->cmd3 = control->thrust;
-+      control->cmd4 = control->thrust;
-+      if (control->thrust == 0)
-+      {
-+          control->thrust = 0;
-+          control->roll = 0;
-+          control->pitch = 0;
-+          control->yaw = 0;
-+
-+          attitudeControllerResetAllPID();
-+          positionControllerResetAllPID();
-+
-+          // Reset the calculated YAW angle for rate control
-+          attitudeDesired.yaw = state->attitude.yaw;
-+      }
-+  }
-+
- }
- 
- 
-diff --git a/src/modules/src/crtp_commander_generic.c b/src/modules/src/crtp_commander_generic.c
-index 993dead..64447d6 100644
---- a/src/modules/src/crtp_commander_generic.c
-+++ b/src/modules/src/crtp_commander_generic.c
-@@ -34,6 +34,8 @@
- #include "num.h"
- #include "FreeRTOS.h"
- 
-+/* #include "motors.h" */
-+
- /* The generic commander format contains a packet type and data that has to be
-  * decoded into a setpoint_t structure. The aim is to make it future-proof
-  * by easily allowing the addition of new packets for future use cases.
-@@ -67,6 +69,9 @@ enum packet_type {
-   cppmEmuType       = 3,
-   altHoldType       = 4,
-   hoverType         = 5,
-+  PPSMotorsType     = 6,
-+  PPSRateType       = 7,
-+  PPSAngleType      = 8,
- };
- 
- /* ---===== 2 - Decoding functions =====--- */
-@@ -292,6 +297,152 @@ static void hoverDecoder(setpoint_t *setpoint, uint8_t type, const void *data, s
-   setpoint->velocity_body = true;
- }
- 
-+struct PPSMotorsPacket_s {
-+    uint16_t cmd1;
-+    uint16_t cmd2;
-+    uint16_t cmd3;
-+    uint16_t cmd4;
-+} __attribute__((packed));
-+
-+static void PPSMotorsDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen)
-+{
-+    const struct PPSMotorsPacket_s *values = data;
-+    ASSERT(datalen == sizeof(struct PPSMotorsPacket_s));
-+
-+    /* we dont use position controller onboard */
-+	setpoint->mode.x = modeDisable;
-+	setpoint->mode.y = modeDisable;
-+	setpoint->mode.z = modeDisable;
-+
-+	setpoint->thrust = 0;
-+	setpoint->position.x = 0;
-+	setpoint->position.y = 0;
-+	setpoint->position.z = 0;
-+	setpoint->velocity.x = 0;
-+	setpoint->velocity.y = 0;
-+	setpoint->velocity.z = 0;
-+
-+    /* we dont use rate controller onboard either */
-+    setpoint->mode.roll = modeDisable;
-+    setpoint->mode.pitch = modeDisable;
-+    setpoint->mode.yaw = modeDisable;
-+
-+    setpoint->attitude.roll = 0;
-+    setpoint->attitude.pitch = 0;
-+    setpoint->attitude.yaw = 0;
-+    setpoint->attitudeRate.roll = 0;
-+    setpoint->attitudeRate.pitch = 0;
-+    setpoint->attitudeRate.yaw = 0;
-+
-+    /* update cmds */
-+
-+    setpoint->cmd1 = limitUint16(values->cmd1);
-+    setpoint->cmd2 = limitUint16(values->cmd2);
-+    setpoint->cmd3 = limitUint16(values->cmd3);
-+    setpoint->cmd4 = limitUint16(values->cmd4);
-+
-+    setpoint->pps_mode = modeMotors;
-+}
-+
-+struct PPSRatePacket_s {
-+    uint16_t cmd1;
-+    uint16_t cmd2;
-+    uint16_t cmd3;
-+    uint16_t cmd4;
-+    float roll_rate;
-+    float pitch_rate;
-+    float yaw_rate;
-+} __attribute__((packed));
-+
-+static void PPSRateDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen)
-+{
-+    const struct PPSRatePacket_s *values = data;
-+    ASSERT(datalen == sizeof(struct PPSRatePacket_s));
-+
-+    /* we dont use position controller onboard */
-+	setpoint->mode.x = modeDisable;
-+	setpoint->mode.y = modeDisable;
-+	setpoint->mode.z = modeDisable;
-+
-+	setpoint->thrust = 0;
-+	setpoint->position.x = 0;
-+	setpoint->position.y = 0;
-+	setpoint->position.z = 0;
-+	setpoint->velocity.x = 0;
-+	setpoint->velocity.y = 0;
-+	setpoint->velocity.z = 0;
-+
-+    /* we use rate controller onboard either */
-+    setpoint->mode.roll = modeVelocity;
-+    setpoint->mode.pitch = modeVelocity;
-+    setpoint->mode.yaw = modeVelocity;
-+
-+    setpoint->attitude.roll = 0;
-+    setpoint->attitude.pitch = 0;
-+    setpoint->attitude.yaw = 0;
-+    setpoint->attitudeRate.roll = values->roll_rate;
-+    setpoint->attitudeRate.pitch = values->pitch_rate;
-+    setpoint->attitudeRate.yaw = values->yaw_rate;
-+
-+    /* update cmds */
-+
-+    setpoint->cmd1 = limitUint16(values->cmd1);
-+    setpoint->cmd2 = limitUint16(values->cmd2);
-+    setpoint->cmd3 = limitUint16(values->cmd3);
-+    setpoint->cmd4 = limitUint16(values->cmd4);
-+
-+    setpoint->pps_mode = modeRate;
-+}
-+
-+struct PPSAnglePacket_s {
-+    uint16_t cmd1;
-+    uint16_t cmd2;
-+    uint16_t cmd3;
-+    uint16_t cmd4;
-+    float roll;
-+    float pitch;
-+    float yaw;
-+} __attribute__((packed));
-+
-+static void PPSAngleDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen)
-+{
-+    const struct PPSAnglePacket_s *values = data;
-+    ASSERT(datalen == sizeof(struct PPSRatePacket_s));
-+
-+    /* we dont use position controller onboard */
-+	setpoint->mode.x = modeDisable;
-+	setpoint->mode.y = modeDisable;
-+	setpoint->mode.z = modeDisable;
-+
-+	setpoint->thrust = 0;
-+	setpoint->position.x = 0;
-+	setpoint->position.y = 0;
-+	setpoint->position.z = 0;
-+	setpoint->velocity.x = 0;
-+	setpoint->velocity.y = 0;
-+	setpoint->velocity.z = 0;
-+
-+    /* we use position angle controller onboard */
-+    setpoint->mode.roll = modeAbs;
-+    setpoint->mode.pitch = modeAbs;
-+    setpoint->mode.yaw = modeAbs;
-+
-+    setpoint->attitude.roll = values->roll;
-+    setpoint->attitude.pitch = values->pitch;
-+    setpoint->attitude.yaw = values->yaw;
-+    setpoint->attitudeRate.roll = 0;
-+    setpoint->attitudeRate.pitch = 0;
-+    setpoint->attitudeRate.yaw = 0;
-+
-+    /* update cmds */
-+    setpoint->cmd1 = limitUint16(values->cmd1);
-+    setpoint->cmd2 = limitUint16(values->cmd2);
-+    setpoint->cmd3 = limitUint16(values->cmd3);
-+    setpoint->cmd4 = limitUint16(values->cmd4);
-+
-+    setpoint->pps_mode = modeAngle;
-+}
-+
-  /* ---===== 3 - packetDecoders array =====--- */
- const static packetDecoder_t packetDecoders[] = {
-   [stopType]          = stopDecoder,
-@@ -300,6 +451,9 @@ const static packetDecoder_t packetDecoders[] = {
-   [cppmEmuType]       = cppmEmuDecoder,
-   [altHoldType]       = altHoldDecoder,
-   [hoverType]         = hoverDecoder,
-+  [PPSMotorsType]     = PPSMotorsDecoder,
-+  [PPSRateType]       = PPSRateDecoder,
-+  [PPSAngleType]      = PPSAngleDecoder,
- };
- 
- /* Decoder switch */
-diff --git a/src/modules/src/power_distribution_stock.c b/src/modules/src/power_distribution_stock.c
-index 0e66c0b..79d5f2c 100644
---- a/src/modules/src/power_distribution_stock.c
-+++ b/src/modules/src/power_distribution_stock.c
-@@ -76,18 +76,19 @@ void powerDistribution(const control_t *control)
-   #ifdef QUAD_FORMATION_X
-     int16_t r = control->roll / 2.0f;
-     int16_t p = control->pitch / 2.0f;
--    motorPower.m1 = limitThrust(control->thrust - r + p + control->yaw);
--    motorPower.m2 = limitThrust(control->thrust - r - p - control->yaw);
--    motorPower.m3 =  limitThrust(control->thrust + r - p + control->yaw);
--    motorPower.m4 =  limitThrust(control->thrust + r + p - control->yaw);
-+    motorPower.m1 = limitThrust(control->cmd1 - r + p + control->yaw);
-+    motorPower.m2 = limitThrust(control->cmd2 - r - p - control->yaw);
-+    motorPower.m3 =  limitThrust(control->cmd3 + r - p + control->yaw);
-+    motorPower.m4 =  limitThrust(control->cmd4 + r + p - control->yaw);
-+
-   #else // QUAD_FORMATION_NORMAL
--    motorPower.m1 = limitThrust(control->thrust + control->pitch +
-+    motorPower.m1 = limitThrust(control->cmd1 + control->pitch +
-                                control->yaw);
--    motorPower.m2 = limitThrust(control->thrust - control->roll -
-+    motorPower.m2 = limitThrust(control->cmd2 - control->roll -
-                                control->yaw);
--    motorPower.m3 =  limitThrust(control->thrust - control->pitch +
-+    motorPower.m3 =  limitThrust(control->cmd3 - control->pitch +
-                                control->yaw);
--    motorPower.m4 =  limitThrust(control->thrust + control->roll -
-+    motorPower.m4 =  limitThrust(control->cmd4 + control->roll -
-                                control->yaw);
-   #endif
- 
-diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
-index eccc709..6b9fcc3 100644
---- a/src/modules/src/stabilizer.c
-+++ b/src/modules/src/stabilizer.c
-@@ -130,7 +130,6 @@ static void stabilizerTask(void* param)
-     commanderGetSetpoint(&setpoint, &state);
- 
-     sitAwUpdateSetpoint(&setpoint, &sensorData, &state);
--
-     stateController(&control, &setpoint, &sensorData, &state, tick);
- 
-     checkEmergencyStopTimeout();

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro

+#-------------------------------------------------
+#
+# Project created by QtCreator 2018-04-26T16:04:19
+#
+#-------------------------------------------------
+
+QT       += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+#greaterThan(QT_MAJOR_VERSION, 4): QT += svg
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += charts
+
+#greaterThan(QT_MAJOR_VERSION, 4): QT += multimedia
+
+TARGET = flyingAgentGUI
+TEMPLATE = app
+
+INCLUDEPATH += $$PWD/include
+CONFIG += c++11
+
+SOURCES += src/main.cpp\
+    src/mainwindow.cpp \
+    src/topbanner.cpp \
+    src/connectstartstopbar.cpp \
+    src/enablecontrollerloadyamlbar.cpp \
+    src/controllerstatusbanner.cpp \
+    src/controllertabs.cpp \
+    src/csonecontrollertab.cpp \
+    src/safecontrollertab.cpp \
+    src/coordinator.cpp \
+    src/coordinatorrow.cpp \
+    src/studentcontrollertab.cpp \
+    src/defaultcontrollertab.cpp \
+    src/pickercontrollertab.cpp \
+    src/templatecontrollertab.cpp \
+    src/tutorialcontrollertab.cpp \
+    src/tuningcontrollertab.cpp \
+    src/remotecontrollertab.cpp
+
+
+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 \
+    include/coordinator.h \
+    include/coordinatorrow.h \
+    include/studentcontrollertab.h \
+    include/defaultcontrollertab.h \
+    include/pickercontrollertab.h \
+    include/templatecontrollertab.h \
+    include/tutorialcontrollertab.h \
+    include/tuningcontrollertab.h \
+    include/Constants_for_Qt_compile.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 \
+    forms/coordinatorrow.ui \
+    forms/studentcontrollertab.ui \
+    forms/defaultcontrollertab.ui \
+    forms/pickercontrollertab.ui \
+    forms/templatecontrollertab.ui \
+    forms/tutorialcontrollertab.ui \
+    forms/tuningcontrollertab.ui \
+    forms/remotecontrollertab.ui
+
+
+RESOURCES += \
+    flyingagentgui.qrc

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc

+<RCC>
+    <qresource prefix="/">
+        <file>images/battery_20.png</file>
+        <file>images/battery_40.png</file>
+        <file>images/battery_60.png</file>
+        <file>images/battery_80.png</file>
+        <file>images/battery_empty.png</file>
+        <file>images/battery_full.png</file>
+        <file>images/battery_unknown.png</file>
+        <file>images/battery_unavailable.png</file>
+        <file>images/rf_connected.png</file>
+        <file>images/rf_connecting.png</file>
+        <file>images/rf_disconnected.png</file>
+        <file>images/flying_state_disabling.png</file>
+        <file>images/flying_state_enabling.png</file>
+        <file>images/flying_state_flying.png</file>
+        <file>images/flying_state_off.png</file>
+        <file>images/flying_state_unknown.png</file>
+        <file>images/flying_state_unavailable.png</file>
+        <file>images/emergency_stop.png</file>
+    </qresource>
+</RCC>
\ No newline at end of file

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/connectstartstopbar.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ConnectStartStopBar</class>
+ <widget class="QWidget" name="ConnectStartStopBar">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1791</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="font">
+   <font>
+    <pointsize>16</pointsize>
+   </font>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>12</number>
+     </property>
+     <property name="leftMargin">
+      <number>6</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>6</number>
+     </property>
+     <property name="bottomMargin">
+      <number>0</number>
+     </property>
+     <item>
+      <widget class="QPushButton" name="rf_disconnect_button">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>750</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Disconnect</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="rf_status_label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>72</width>
+         <height>55</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>95</width>
+         <height>70</height>
+        </size>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="rf_connect_button">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>750</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Connect</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="battery_voltage_lineEdit">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>-.-- V</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="battery_status_label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>38</width>
+         <height>55</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>50</width>
+         <height>70</height>
+        </size>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="enable_flying_button">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>750</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Take off</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="disable_flying_button">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>750</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Land</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="flying_state_label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>72</width>
+         <height>55</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>90</width>
+         <height>70</height>
+        </size>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="motors_off_button">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>750</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Motors OFF</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllerstatusbanner.ui

+<?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>

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ControllerTabs</class>
+ <widget class="QWidget" name="ControllerTabs">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1779</width>
+    <height>718</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="font">
+   <font>
+    <pointsize>16</pointsize>
+   </font>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <widget class="QTabWidget" name="controller_tabs_widget">
+     <property name="currentIndex">
+      <number>6</number>
+     </property>
+     <property name="movable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="default_tab">
+      <attribute name="title">
+       <string>Default</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_2">
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <property name="spacing">
+        <number>5</number>
+       </property>
+       <item row="0" column="1">
+        <widget class="QScrollArea" name="scrollArea_default">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="DefaultControllerTab" name="default_controller_tab_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1638</width>
+            <height>576</height>
+           </rect>
+          </property>
+         </widget>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="ControllerStatusBanner" name="statusBanner_default" 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 class="QWidget" name="student_tab">
+      <attribute name="title">
+       <string>Student</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_4">
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <property name="spacing">
+        <number>5</number>
+       </property>
+       <item row="0" column="1">
+        <widget class="QScrollArea" name="scrollArea_student">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="StudentControllerTab" name="student_controller_tab_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1638</width>
+            <height>576</height>
+           </rect>
+          </property>
+         </widget>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="ControllerStatusBanner" name="statusBanner_student" 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 class="QWidget" name="csone_tab">
+      <attribute name="title">
+       <string>CS1</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_8">
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <property name="spacing">
+        <number>5</number>
+       </property>
+       <item row="0" column="0">
+        <widget class="ControllerStatusBanner" name="statusBanner_csone" 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>
+       <item row="0" column="1">
+        <widget class="QScrollArea" name="scrollArea_csone">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="CsoneControllerTab" name="csone_controller_tab_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1638</width>
+            <height>576</height>
+           </rect>
+          </property>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="picker_tab">
+      <attribute name="title">
+       <string>Picker</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_5">
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <property name="spacing">
+        <number>5</number>
+       </property>
+       <item row="0" column="1">
+        <widget class="QScrollArea" name="scrollArea_picker">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="PickerControllerTab" name="picker_controller_tab_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1638</width>
+            <height>576</height>
+           </rect>
+          </property>
+         </widget>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="ControllerStatusBanner" name="statusBanner_picker" 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 class="QWidget" name="tuning_tab">
+      <attribute name="title">
+       <string>Tuning</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_6">
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <property name="spacing">
+        <number>5</number>
+       </property>
+       <item row="0" column="0">
+        <widget class="ControllerStatusBanner" name="statusBanner_tuning" 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>
+       <item row="0" column="1">
+        <widget class="QScrollArea" name="scrollArea_tuning">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="TuningControllerTab" name="tuning_controller_tab_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1638</width>
+            <height>576</height>
+           </rect>
+          </property>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="remote_tab">
+      <attribute name="title">
+       <string>Remote</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_3">
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <property name="spacing">
+        <number>5</number>
+       </property>
+       <item row="0" column="1">
+        <widget class="QScrollArea" name="scrollArea_remote">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="RemoteControllerTab" name="remote_controller_tab_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1638</width>
+            <height>576</height>
+           </rect>
+          </property>
+         </widget>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="ControllerStatusBanner" name="statusBanner_remote" 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 class="QWidget" name="template_tab">
+      <attribute name="title">
+       <string>Template</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_7">
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <property name="spacing">
+        <number>5</number>
+       </property>
+       <item row="0" column="1">
+        <widget class="QScrollArea" name="scrollArea_template">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="TemplateControllerTab" name="template_controller_tab_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1638</width>
+            <height>576</height>
+           </rect>
+          </property>
+         </widget>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="ControllerStatusBanner" name="statusBanner_template" 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 class="QWidget" name="tutorial_tab">
+      <attribute name="title">
+       <string>Tutorial</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_9">
+       <property name="leftMargin">
+        <number>3</number>
+       </property>
+       <property name="topMargin">
+        <number>3</number>
+       </property>
+       <property name="rightMargin">
+        <number>3</number>
+       </property>
+       <property name="bottomMargin">
+        <number>3</number>
+       </property>
+       <property name="spacing">
+        <number>5</number>
+       </property>
+       <item row="0" column="1">
+        <widget class="QScrollArea" name="scrollArea_tutorial">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="TutorialControllerTab" name="tutorial_controller_tab_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>1638</width>
+            <height>576</height>
+           </rect>
+          </property>
+         </widget>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="ControllerStatusBanner" name="statusBanner_tutorial" 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>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>StudentControllerTab</class>
+   <extends>QWidget</extends>
+   <header>studentcontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>DefaultControllerTab</class>
+   <extends>QWidget</extends>
+   <header>defaultcontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>PickerControllerTab</class>
+   <extends>QWidget</extends>
+   <header>pickercontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>TuningControllerTab</class>
+   <extends>QWidget</extends>
+   <header>tuningcontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>TemplateControllerTab</class>
+   <extends>QWidget</extends>
+   <header>templatecontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>TutorialControllerTab</class>
+   <extends>QWidget</extends>
+   <header>tutorialcontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>RemoteControllerTab</class>
+   <extends>QWidget</extends>
+   <header>remotecontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>CsoneControllerTab</class>
+   <extends>QWidget</extends>
+   <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/>
+</ui>

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/coordinator.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Coordinator</class>
+ <widget class="QWidget" name="Coordinator">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>603</width>
+    <height>1050</height>
+   </rect>
+  </property>
+  <property name="font">
+   <font>
+    <pointsize>16</pointsize>
+   </font>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QLabel" name="coordintor_title_label">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="text">
+      <string>Coordinator</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLabel" name="coordinator_id_label">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="text">
+      <string>ID = </string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="refresh_button">
+     <property name="text">
+      <string>Refresh</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="toggle_details_button">
+     <property name="text">
+      <string>Toggle Details</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="delete_button">
+     <property name="text">
+      <string>Remove All</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="coordinate_all_checkBox">
+     <property name="font">
+      <font>
+       <pointsize>16</pointsize>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
+     </property>
+     <property name="text">
+      <string>Coordinate All</string>
+     </property>
+     <property name="checked">
+      <bool>false</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QScrollArea" name="coordinated_agents_scrollArea">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="coordinated_agents_scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>565</width>
+        <height>622</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_for_coordinatedAgentsScrollArea"/>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>CoordinatorRow</class>
+ <widget class="QWidget" name="CoordinatorRow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>740</width>
+    <height>45</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>45</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>16777215</width>
+    <height>45</height>
+   </size>
+  </property>
+  <property name="font">
+   <font>
+    <pointsize>12</pointsize>
+   </font>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>2</number>
+   </property>
+   <property name="leftMargin">
+    <number>2</number>
+   </property>
+   <property name="topMargin">
+    <number>5</number>
+   </property>
+   <property name="rightMargin">
+    <number>2</number>
+   </property>
+   <property name="bottomMargin">
+    <number>5</number>
+   </property>
+   <item>
+    <widget class="QCheckBox" name="shouldCoordinate_checkBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>180</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>12</pointsize>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
+     </property>
+     <property name="text">
+      <string>IDYYY , CFXX</string>
+     </property>
+     <property name="checkable">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="rf_disconnect_button">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>DIS</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLabel" name="rf_status_label">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>43</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>43</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="rf_connect_button">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>CON</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLineEdit" name="battery_voltage_lineEdit">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>68</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>68</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <family>Courier</family>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="text">
+      <string>-.-- V</string>
+     </property>
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLabel" name="battery_status_label">
+     <property name="minimumSize">
+      <size>
+       <width>25</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>25</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="enable_flying_button">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>EN</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="disable_flying_button">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>DIS</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLabel" name="flying_state_label">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>50</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="motors_off_button">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>40</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="text">
+      <string>OFF</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLabel" name="controller_enabled_label">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>180</width>
+       <height>35</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Controller</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>