.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/firmware_modifications_for_version_2020-02.patch

+diff --git a/src/modules/interface/attitude_controller.h b/src/modules/interface/attitude_controller.h
+index fe25dc0..fd69bdc 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 fc3e378..c51fdbd 100644
+--- a/src/modules/interface/stabilizer_types.h
++++ b/src/modules/interface/stabilizer_types.h
+@@ -159,6 +159,10 @@ 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 {
+@@ -174,11 +178,17 @@ typedef struct setpoint_s {
+   attitude_t attitudeRate;  // deg/s
+   quaternion_t attitudeQuaternion;
+   float thrust;
++  uint16_t cmd1;
++  uint16_t cmd2;
++  uint16_t cmd3;
++  uint16_t cmd4;
+   point_t position;         // m
+   velocity_t velocity;      // m/s
+   acc_t acceleration;       // m/s^2
+   bool velocity_body;       // true if velocity is given in body frame; false if velocity is given in world frame
+ 
++  bool useDfallAdjustmentsToControllerPID;
++
+   struct {
+     stab_mode_t x;
+     stab_mode_t y;
+diff --git a/src/modules/src/attitude_pid_controller.c b/src/modules/src/attitude_pid_controller.c
+index b7d707e..bcb02bc 100644
+--- a/src/modules/src/attitude_pid_controller.c
++++ b/src/modules/src/attitude_pid_controller.c
+@@ -145,6 +145,11 @@ void attitudeControllerResetPitchAttitudePID(void)
+     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 f4ecb75..673b5cc 100644
+--- a/src/modules/src/controller_pid.c
++++ b/src/modules/src/controller_pid.c
+@@ -132,6 +132,9 @@ void controllerPid(control_t *control, setpoint_t *setpoint,
+     control->thrust = actuatorThrust;
+   }
+ 
++  // The following "if (control->thrust == 0)" block is commented
++  // out because it is replaced with what follows after.
++  /*
+   if (control->thrust == 0)
+   {
+     control->thrust = 0;
+@@ -150,6 +153,92 @@ void controllerPid(control_t *control, setpoint_t *setpoint,
+     // Reset the calculated YAW angle for rate control
+     attitudeDesired.yaw = state->attitude.yaw;
+   }
++  */
++
++  // The following "if:then:else" statements is used to
++  // specify the "control->cmd{1,2,3,4}" depending on
++  // the boolean:
++  // >> "setpoint->useDfallAdjustmentsToControllerPID"
++  if (setpoint->useDfallAdjustmentsToControllerPID)
++  {
++    // Set the {roll,pitch,yaw} commands to zero
++    // if indicated by the respective mode
++    if (setpoint->mode.roll == modeDisable)
++    {
++      control->roll = 0;
++      cmd_roll = 0.0;
++    }
++    if (setpoint->mode.pitch == modeDisable)
++    {
++      control->pitch = 0;
++      cmd_pitch = 0.0;
++    }
++    if (setpoint->mode.yaw == modeDisable)
++    {
++      control->yaw = 0;
++      cmd_yaw = 0.0;
++    }
++    // Apply the per-motor commands differently
++    // depending on the Z-controller mode
++    if (setpoint->mode.z == modeDisable)
++    {
++      // Copy across the per motor commands
++      control->cmd1 = setpoint->cmd1;
++      control->cmd2 = setpoint->cmd2;
++      control->cmd3 = setpoint->cmd3;
++      control->cmd4 = setpoint->cmd4;
++    }
++    else
++    {
++      // Add the setpoints on top of the
++      // "control thrust" computed by the
++      // PID controllers above
++      control->cmd1 = setpoint->cmd1 + control->thrust;
++      control->cmd2 = setpoint->cmd2 + control->thrust;
++      control->cmd3 = setpoint->cmd3 + control->thrust;
++      control->cmd4 = setpoint->cmd4 + control->thrust;
++    }
++  }
++  // Otherwise, "setpoint->useDfallAdjustmentsToControllerPID == false"
++  else
++  {
++    // Put the thrust value onto each motor
++    control->cmd1 = control->thrust;
++    control->cmd2 = control->thrust;
++    control->cmd3 = control->thrust;
++    control->cmd4 = control->thrust;
++  }
++
++  // If all control commands are zero, i.e., if:
++  // >> "control->cmd{1,2,3,4}==0"
++  // then set all commands to zero and to reset
++  // all PIDs.
++  bool isZeroThrust = ((control->cmd1 == 0 && control->cmd2 == 0 && control->cmd3 == 0 && control->cmd4 == 0));
++  if (isZeroThrust)
++  {
++    // Set all commands to zero
++    control->cmd1 = 0;
++    control->cmd2 = 0;
++    control->cmd3 = 0;
++    control->cmd4 = 0;
++    control->thrust = 0;
++    control->roll = 0;
++    control->pitch = 0;
++    control->yaw = 0;
++
++    // Reset all PIDs
++    attitudeControllerResetAllPID();
++    positionControllerResetAllPID();
++
++    // Reset the calculated YAW angle for rate control
++    attitudeDesired.yaw = state->attitude.yaw;
++
++    // Update also the log variables to reflect this
++    cmd_thrust = 0.0;
++    cmd_roll = 0.0;
++    cmd_pitch = 0.0;
++    cmd_yaw = 0.0;
++  }
+ }
+ 
+ 
+diff --git a/src/modules/src/crtp_commander_generic.c b/src/modules/src/crtp_commander_generic.c
+index 1662fe4..f6931a4 100644
+--- a/src/modules/src/crtp_commander_generic.c
++++ b/src/modules/src/crtp_commander_generic.c
+@@ -71,6 +71,7 @@ enum packet_type {
+   hoverType         = 5,
+   fullStateType     = 6,
+   positionType      = 7,
++  dfallType         = 8,
+ };
+ 
+ /* ---===== 2 - Decoding functions =====--- */
+@@ -112,6 +113,9 @@ static void velocityDecoder(setpoint_t *setpoint, uint8_t type, const void *data
+   setpoint->mode.yaw = modeVelocity;
+ 
+   setpoint->attitudeRate.yaw = -values->yawrate;
++
++  // Turn off the "dfall mode adjustments"
++  setpoint->useDfallAdjustmentsToControllerPID = false;
+ }
+ 
+ /* zDistanceDecoder
+@@ -145,6 +149,9 @@ static void zDistanceDecoder(setpoint_t *setpoint, uint8_t type, const void *dat
+ 
+   setpoint->attitude.roll = values->roll;
+   setpoint->attitude.pitch = values->pitch;
++
++  // Turn off the "dfall mode adjustments"
++  setpoint->useDfallAdjustmentsToControllerPID = false;
+ }
+ 
+ /* cppmEmuDecoder
+@@ -230,6 +237,9 @@ static void cppmEmuDecoder(setpoint_t *setpoint, uint8_t type, const void *data,
+   {
+     setpoint->thrust = 0;
+   }
++
++  // Turn off the "dfall mode adjustments"
++  setpoint->useDfallAdjustmentsToControllerPID = false;
+ }
+ 
+ /* altHoldDecoder
+@@ -263,6 +273,9 @@ static void altHoldDecoder(setpoint_t *setpoint, uint8_t type, const void *data,
+ 
+   setpoint->attitude.roll = values->roll;
+   setpoint->attitude.pitch = values->pitch;
++
++  // Turn off the "dfall mode adjustments"
++  setpoint->useDfallAdjustmentsToControllerPID = false;
+ }
+ 
+ /* hoverDecoder
+@@ -294,6 +307,9 @@ static void hoverDecoder(setpoint_t *setpoint, uint8_t type, const void *data, s
+   setpoint->velocity.y = values->vy;
+ 
+   setpoint->velocity_body = true;
++
++  // Turn off the "dfall mode adjustments"
++  setpoint->useDfallAdjustmentsToControllerPID = false;
+ }
+ 
+ struct fullStatePacket_s {
+@@ -338,6 +354,9 @@ static void fullStateDecoder(setpoint_t *setpoint, uint8_t type, const void *dat
+   setpoint->mode.roll = modeDisable;
+   setpoint->mode.pitch = modeDisable;
+   setpoint->mode.yaw = modeDisable;
++
++  // Turn off the "dfall mode adjustments"
++  setpoint->useDfallAdjustmentsToControllerPID = false;
+ }
+ 
+ /* positionDecoder
+@@ -365,6 +384,313 @@ static void positionDecoder(setpoint_t *setpoint, uint8_t type, const void *data
+   setpoint->mode.yaw = modeAbs;
+ 
+   setpoint->attitude.yaw = values->yaw;
++
++  // Turn off the "dfall mode adjustments"
++  setpoint->useDfallAdjustmentsToControllerPID = false;
++}
++
++/* dfall mode decoder
++ * set the mode of the onboard {x,y,z,roll,pitch,yaw}
++ * controllers based on the mode specification
++ * contained in the packet. A separate mode is
++ * specified for each of the four independent
++ * coordinates of {x,y,z,yaw}
++ */
++
++#define DFALL_CONTROLLER_MODE_OFF            0
++#define DFALL_CONTROLLER_MODE_ANGULAR_RATE   1
++#define DFALL_CONTROLLER_MODE_ANGLE          2
++#define DFALL_CONTROLLER_MODE_VELOCITY       3
++#define DFALL_CONTROLLER_MODE_POSITION       4
++
++struct dfallPacket_s {
++    uint16_t controllerModes;
++    uint16_t cmd1;
++    uint16_t cmd2;
++    uint16_t cmd3;
++    uint16_t cmd4;
++    float xControllerSetpoint;
++    float yControllerSetpoint;
++    float zControllerSetpoint;
++    float yawControllerSetpoint;
++} __attribute__((packed));
++
++static void dfallDecoder(setpoint_t *setpoint, uint8_t type, const void *data, size_t datalen)
++{
++  const struct dfallPacket_s *values = data;
++  ASSERT(datalen == sizeof(struct dfallPacket_s));
++
++  // DECODE THE 16-BIT INTEGER THAT ENCODES
++  // THE REQUESTED {x,y,z,yaw} CONTROLLER MODES
++  // > Each mode is encoded using 3 bits, stacked together as follows:
++  // ---------------------------------------------------------------
++  // |BIT   | 15 14 13 12 | 11 10  9 | 8  7  6 | 5  4  3 | 2  1  0 |
++  // |DESC. | free bits   | yaw_mode | z_mode  | y_mode  | x_mode  |
++  // ---------------------------------------------------------------
++
++  uint16_t mode_selector_bits = 7;
++
++  // EXTRACT THE MODE FOR EACH CONTROLLER
++  uint8_t x_controller_mode   = (values->controllerModes >> 0) & mode_selector_bits;
++  uint8_t y_controller_mode   = (values->controllerModes >> 3) & mode_selector_bits;
++  uint8_t z_controller_mode   = (values->controllerModes >> 6) & mode_selector_bits;
++  uint8_t yaw_controller_mode = (values->controllerModes >> 9) & mode_selector_bits;
++
++  // INITIALISE A BOOLEAN FOR TRACKING IF ANY
++  // OF THE CONTROLLER MODES ARE INVALID
++  bool invalid_controller_mode_requested = false;
++
++  // PROCESS THE X CONTROLLER
++  switch (x_controller_mode)
++  {
++    case DFALL_CONTROLLER_MODE_ANGULAR_RATE:
++      // Set the modes
++      setpoint->mode.x     = modeDisable;
++      setpoint->mode.pitch = modeVelocity;
++      // Set the setpoint
++      setpoint->position.x         = 0.0;
++      setpoint->velocity.x         = 0.0;
++      setpoint->attitude.pitch     = 0.0;
++      setpoint->attitudeRate.pitch = values->xControllerSetpoint;
++      break;
++
++    case DFALL_CONTROLLER_MODE_ANGLE:
++      // Set the modes
++      setpoint->mode.x     = modeDisable;
++      setpoint->mode.pitch = modeAbs;
++      // Set the setpoints
++      setpoint->position.x         = 0.0;
++      setpoint->velocity.x         = 0.0;
++      setpoint->attitude.pitch     = values->xControllerSetpoint;
++      setpoint->attitudeRate.pitch = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_VELOCITY:
++      // Set the modes
++      setpoint->mode.x     = modeVelocity;
++      setpoint->mode.pitch = modeAbs;
++      // Set the setpoints
++      setpoint->position.x         = 0.0;
++      setpoint->velocity.x         = values->xControllerSetpoint;
++      setpoint->attitude.pitch     = 0.0;
++      setpoint->attitudeRate.pitch = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_POSITION:
++      // Set the modes
++      setpoint->mode.x     = modeAbs;
++      setpoint->mode.pitch = modeAbs;
++      // Set the setpoints
++      setpoint->position.x         = values->xControllerSetpoint;
++      setpoint->velocity.x         = 0.0;
++      setpoint->attitude.pitch     = 0.0;
++      setpoint->attitudeRate.pitch = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_OFF:
++      // Set the modes
++      setpoint->mode.x     = modeDisable;
++      setpoint->mode.pitch = modeDisable;
++      // Set the setpoints
++      setpoint->position.x         = 0.0;
++      setpoint->velocity.x         = 0.0;
++      setpoint->attitude.pitch     = 0.0;
++      setpoint->attitudeRate.pitch = 0.0;
++      break;
++
++    default:
++      // Set the flag that an invalid mode
++      // was requested
++      invalid_controller_mode_requested = true;
++      break;
++  }
++
++  // PROCESS THE Y CONTROLLER
++  switch (y_controller_mode)
++  {
++    case DFALL_CONTROLLER_MODE_ANGULAR_RATE:
++      // Set the modes
++      setpoint->mode.y    = modeDisable;
++      setpoint->mode.roll = modeVelocity;
++      // Set the setpoint
++      setpoint->position.y        = 0.0;
++      setpoint->velocity.y        = 0.0;
++      setpoint->attitude.roll     = 0.0;
++      setpoint->attitudeRate.roll = values->yControllerSetpoint;
++      break;
++
++    case DFALL_CONTROLLER_MODE_ANGLE:
++      // Set the modes
++      setpoint->mode.y    = modeDisable;
++      setpoint->mode.roll = modeAbs;
++      // Set the setpoints
++      setpoint->position.y        = 0.0;
++      setpoint->velocity.y        = 0.0;
++      setpoint->attitude.roll     = values->yControllerSetpoint;
++      setpoint->attitudeRate.roll = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_VELOCITY:
++      // Set the modes
++      setpoint->mode.y    = modeVelocity;
++      setpoint->mode.roll = modeAbs;
++      // Set the setpoints
++      setpoint->position.y        = 0.0;
++      setpoint->velocity.y        = values->yControllerSetpoint;
++      setpoint->attitude.roll     = 0.0;
++      setpoint->attitudeRate.roll = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_POSITION:
++      // Set the modes
++      setpoint->mode.y    = modeAbs;
++      setpoint->mode.roll = modeAbs;
++      // Set the setpoints
++      setpoint->position.y        = values->yControllerSetpoint;
++      setpoint->velocity.y        = 0.0;
++      setpoint->attitude.roll     = 0.0;
++      setpoint->attitudeRate.roll = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_OFF:
++      // Set the modes
++      setpoint->mode.y    = modeDisable;
++      setpoint->mode.roll = modeDisable;
++      // Set the setpoints
++      setpoint->position.y        = 0.0;
++      setpoint->velocity.y        = 0.0;
++      setpoint->attitude.roll     = 0.0;
++      setpoint->attitudeRate.roll = 0.0;
++      break;
++
++    default:
++      // Set the flag that an invalid mode
++      // was requested
++      invalid_controller_mode_requested = true;
++      break;
++  }
++
++  // PROCESS THE Z CONTROLLER
++  switch (z_controller_mode)
++  {
++    case DFALL_CONTROLLER_MODE_VELOCITY:
++      // Set the mode
++      setpoint->mode.z = modeVelocity;
++      // Set the setpoints
++      setpoint->position.z = 0.0;
++      setpoint->velocity.z = values->zControllerSetpoint;
++      break;
++
++    case DFALL_CONTROLLER_MODE_POSITION:
++      // Set the mode
++      setpoint->mode.z = modeAbs;
++      // Set the setpoints
++      setpoint->position.z = values->zControllerSetpoint;
++      setpoint->velocity.z = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_OFF:
++      // Set the mode
++      setpoint->mode.z = modeDisable;
++      // Set the setpoints
++      setpoint->position.z = 0.0;
++      setpoint->velocity.z = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_ANGULAR_RATE:
++    case DFALL_CONTROLLER_MODE_ANGLE:
++    default:
++      // Set the flag that an invalid mode
++      // was requested
++      invalid_controller_mode_requested = true;
++      break;
++  }
++
++  // PROCESS THE YAW CONTROLLER
++  switch (yaw_controller_mode)
++  {
++    case DFALL_CONTROLLER_MODE_ANGULAR_RATE:
++      // Set the mode
++      setpoint->mode.yaw = modeVelocity;
++      // Set the setpoint
++      setpoint->attitude.yaw     = 0.0;
++      setpoint->attitudeRate.yaw = values->yawControllerSetpoint;
++      break;
++
++    case DFALL_CONTROLLER_MODE_ANGLE:
++      // Set the modes
++      setpoint->mode.yaw = modeAbs;
++      // Set the setpoints
++      setpoint->attitude.roll     = values->yawControllerSetpoint;
++      setpoint->attitudeRate.roll = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_OFF:
++      // Set the modes
++      setpoint->mode.yaw = modeDisable;
++      // Set the setpoints
++      setpoint->attitude.yaw     = 0.0;
++      setpoint->attitudeRate.yaw = 0.0;
++      break;
++
++    case DFALL_CONTROLLER_MODE_VELOCITY:
++    case DFALL_CONTROLLER_MODE_POSITION:
++    default:
++      // Set the flag that an invalid mode
++      // was requested
++      invalid_controller_mode_requested = true;
++      break;
++  }
++
++  // Set the thrust setpoint to zero
++  setpoint->thrust = 0;
++
++  // Tranfer the per-motor commands from the packet
++  // to the respective setpoints
++  // NOTES:
++  // (1) this is performed regardless of the
++  //     "z_controller_mode" because the per motor
++  //     commands can be used for correcting steady-
++  //     state offsets in {x,y,yaw}.
++  // (2) if the "z_controller_mode" is in "POSITION"
++  //     or "VELOCITY" mode, then onboard controllers
++  //     will compute the main thurst controler, and
++  //     the user is expected to fill in cmd{1,2,3,4}
++  //     with only adjustment values.
++  setpoint->cmd1 = limitUint16(values->cmd1);
++  setpoint->cmd2 = limitUint16(values->cmd2);
++  setpoint->cmd3 = limitUint16(values->cmd3);
++  setpoint->cmd4 = limitUint16(values->cmd4);
++
++  // Set everything to off and zero if an invlaid
++  // controller mode was requested
++  if (invalid_controller_mode_requested)
++  {
++    // Set the modes
++    setpoint->mode.x     = modeDisable;
++    setpoint->mode.pitch = modeDisable;
++    setpoint->mode.y     = modeDisable;
++    setpoint->mode.roll  = modeDisable;
++    setpoint->mode.z     = modeDisable;
++    setpoint->mode.yaw   = modeDisable;
++
++    // Set the setpoints
++    setpoint->position.x         = 0.0;
++    setpoint->velocity.x         = 0.0;
++    setpoint->attitude.pitch     = 0.0;
++    setpoint->attitudeRate.pitch = 0.0;
++    setpoint->position.y         = 0.0;
++    setpoint->velocity.y         = 0.0;
++    setpoint->attitude.roll      = 0.0;
++    setpoint->attitudeRate.roll  = 0.0;
++    setpoint->position.z         = 0.0;
++    setpoint->velocity.z         = 0.0;
++    setpoint->attitude.yaw       = 0.0;
++    setpoint->attitudeRate.yaw   = 0.0;
++  }
++
++  // Turn on the "dfall mode adjustments"
++  setpoint->useDfallAdjustmentsToControllerPID = true;
+ }
+ 
+  /* ---===== 3 - packetDecoders array =====--- */
+@@ -377,6 +703,7 @@ const static packetDecoder_t packetDecoders[] = {
+   [hoverType]         = hoverDecoder,
+   [fullStateType]     = fullStateDecoder,
+   [positionType]      = positionDecoder,
++  [dfallType]         = dfallDecoder,
+ };
+ 
+ /* Decoder switch */
+diff --git a/src/modules/src/power_distribution_stock.c b/src/modules/src/power_distribution_stock.c
+index d3b7d8d..072a699 100644
+--- a/src/modules/src/power_distribution_stock.c
++++ b/src/modules/src/power_distribution_stock.c
+@@ -80,18 +80,18 @@ 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
+ 
+@@ -117,11 +117,11 @@ PARAM_ADD(PARAM_UINT16, m1, &motorPowerSet.m1)
+ PARAM_ADD(PARAM_UINT16, m2, &motorPowerSet.m2)
+ PARAM_ADD(PARAM_UINT16, m3, &motorPowerSet.m3)
+ PARAM_ADD(PARAM_UINT16, m4, &motorPowerSet.m4)
+-PARAM_GROUP_STOP(ring)
++PARAM_GROUP_STOP(motorPowerSet)
+ 
+ LOG_GROUP_START(motor)
+-LOG_ADD(LOG_INT32, m4, &motorPower.m4)
+ LOG_ADD(LOG_INT32, m1, &motorPower.m1)
+ LOG_ADD(LOG_INT32, m2, &motorPower.m2)
+ LOG_ADD(LOG_INT32, m3, &motorPower.m3)
++LOG_ADD(LOG_INT32, m4, &motorPower.m4)
+ LOG_GROUP_STOP(motor)
+diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
+index 372ec94..cb4f848 100644
+--- a/src/modules/src/stabilizer.c
++++ b/src/modules/src/stabilizer.c
+@@ -92,6 +92,10 @@ static struct {
+   int16_t ax;
+   int16_t ay;
+   int16_t az;
++  // attitude - milliradians
++  int16_t roll;
++  int16_t pitch;
++  int16_t yaw;
+   // compressed quaternion, see quatcompress.h
+   int32_t quat;
+   // angular velocity - milliradians / sec
+@@ -151,6 +155,11 @@ static void compressState()
+   stateCompressed.ay = state.acc.y * 9.81f * 1000.0f;
+   stateCompressed.az = (state.acc.z + 1) * 9.81f * 1000.0f;
+ 
++  float const deg2millirad = ((float)M_PI * 1000.0f) / 180.0f;
++  stateCompressed.roll = state.attitude.roll * deg2millirad;
++  stateCompressed.pitch = state.attitude.pitch * deg2millirad;
++  stateCompressed.yaw = state.attitude.yaw * deg2millirad;
++
+   float const q[4] = {
+     state.attitudeQuaternion.x,
+     state.attitudeQuaternion.y,
+@@ -158,7 +167,7 @@ static void compressState()
+     state.attitudeQuaternion.w};
+   stateCompressed.quat = quatcompress(q);
+ 
+-  float const deg2millirad = ((float)M_PI * 1000.0f) / 180.0f;
++  //float const deg2millirad = ((float)M_PI * 1000.0f) / 180.0f;
+   stateCompressed.rateRoll = sensorData.gyro.x * deg2millirad;
+   stateCompressed.ratePitch = -sensorData.gyro.y * deg2millirad;
+   stateCompressed.rateYaw = sensorData.gyro.z * deg2millirad;
+@@ -670,6 +679,10 @@ LOG_ADD(LOG_INT16, ax, &stateCompressed.ax)               // acceleration - mm /
+ LOG_ADD(LOG_INT16, ay, &stateCompressed.ay)
+ LOG_ADD(LOG_INT16, az, &stateCompressed.az)
+ 
++LOG_ADD(LOG_INT16, roll, &stateCompressed.roll)           // attitude - milliradians
++LOG_ADD(LOG_INT16, pitch, &stateCompressed.pitch)
++LOG_ADD(LOG_INT16, yaw, &stateCompressed.yaw)
++
+ LOG_ADD(LOG_UINT32, quat, &stateCompressed.quat)           // compressed quaternion, see quatcompress.h
+ 
+ LOG_ADD(LOG_INT16, rateRoll, &stateCompressed.rateRoll)   // angular velocity - milliradians / sec

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/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0)
+project(dfall_pkg)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+# add_definitions(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  roscpp
+  rospy
+  std_msgs
+  genmsg
+  rosbag
+  roslib
+  )
+
+
+
+# CHECK IF THE EIGEN PACKAGE IS AVAILABLE
+find_package (Eigen3 3.3 NO_MODULE)
+
+
+
+# CHECK IF THE QT PACKAGES ARE AVAILABLE
+find_package(Qt5Widgets CONFIG)
+find_package(Qt5Core CONFIG)
+find_package(Qt5Gui CONFIG)
+find_package(Qt5Svg CONFIG)
+find_package(Qt5Charts CONFIG)
+
+
+
+# VICON DATASTREAM SDK PACKAGE
+# Ensure that the cache variable where the result would be stored is clear
+message(STATUS "NOTE: Prior to being unset: VICON_LIBRARY = " ${VICON_LIBRARY})
+unset(VICON_LIBRARY CACHE)
+message(STATUS "NOTE: After being unset: VICON_LIBRARY = " ${VICON_LIBRARY})
+
+# Find the Vicon Data Stream SDK Pacakge
+find_library(VICON_LIBRARY ViconDataStreamSDK_CPP PATHS lib/vicon NO_DEFAULT_PATH)
+message(STATUS "NOTE: After calling find_library(): VICON_LIBRARY = " ${VICON_LIBRARY})
+
+# Let the user know if the library was found or not
+if(VICON_LIBRARY)
+	message(STATUS "NOTE: the Vicon Data Stream SDK library was found")
+else()
+	message(STATUS "NOTE: the Vicon Data Stream SDK library was NOT found")
+endif()
+
+
+
+# LET THE USER KNOW IF THE EIGEN PACKAGE WAS FOUND OR NOT
+if(Eigen3_FOUND)
+	message(STATUS "NOTE: the Eigen3 package was found")
+else()
+	message(STATUS "NOTE: the Eigen3 package was NOT found")
+endif()
+
+
+
+# LET THE USER KNOW IF THE QT PACKAGES WERE FOUND OR NOT
+if(Qt5Widgets_FOUND)
+  message(STATUS "NOTE: the Qt5 Widgets package was found")
+else()
+  message(STATUS "NOTE: the Qt5 Widgets package was NOT found")
+endif()
+if(Qt5Core_FOUND)
+	message(STATUS "NOTE: the Qt5 Core package was found")
+else()
+	message(STATUS "NOTE: the Qt5 Core package was NOT found")
+endif()
+if(Qt5Gui_FOUND)
+  message(STATUS "NOTE: the Qt5 Gui package was found")
+else()
+  message(STATUS "NOTE: the Qt5 Gui package was NOT found")
+endif()
+if(Qt5Svg_FOUND)
+	message(STATUS "NOTE: the Qt5 Svg package was found")
+else()
+	message(STATUS "NOTE: the Qt5 Svg package was NOT found")
+endif()
+if(Qt5Charts_FOUND)
+	message(STATUS "NOTE: the Qt5 Charts package was found")
+else()
+	message(STATUS "NOTE: the Qt5 Charts package was NOT found")
+endif()
+
+
+if(Qt5Widgets_FOUND AND Qt5Core_FOUND AND Qt5Gui_FOUND AND Qt5Svg_FOUND AND Qt5Charts_FOUND)
+	set(Qt5_FOUND TRUE)
+else()
+	set(Qt5_FOUND FALSE)
+endif()
+if(Qt5_FOUND)
+  message(STATUS "NOTE: hence compiling Qt GUIs")
+else()
+  message(STATUS "NOTE: hence NOT compiling Qt GUIs")
+endif()
+
+
+if(Qt5_FOUND)
+  # GUI -- Add precompiler definitions to include ROS things in GUI compilation
+  add_definitions(-DCATKIN_MAKE)
+
+  # GUI -- Things needed for Qt wrapper build process
+  set(CMAKE_INCLUDE_CURRENT_DIR ON)
+  set(CMAKE_AUTOMOC ON)
+endif()
+
+
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+
+if(Qt5_FOUND)
+  # GUI -- Add src, includes, and resources
+  set(SYSTEM_CONFIG_GUI_LIB_PATH_SRC   ${PROJECT_SOURCE_DIR}/GUI_Qt/systemConfigGUI/src)
+  set(SYSTEM_CONFIG_GUI_LIB_PATH_INC   ${PROJECT_SOURCE_DIR}/GUI_Qt/systemConfigGUI/include)
+  set(SYSTEM_CONFIG_GUI_LIB_PATH_FORMS ${PROJECT_SOURCE_DIR}/GUI_Qt/systemConfigGUI/forms)
+  set(SYSTEM_CONFIG_GUI_RESOURCE_FILE_QRC  ${PROJECT_SOURCE_DIR}/GUI_Qt/systemConfigGUI/systemconfiggui.qrc)
+
+
+
+  # Flying Agent GUI -- Add src, includes, forms, and resources
+  set(FLYING_AGENT_GUI_LIB_PATH_SRC      ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/src)
+  set(FLYING_AGENT_GUI_LIB_PATH_INC      ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/include)
+  set(FLYING_AGENT_GUI_LIB_PATH_FORMS    ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/forms)
+  set(FLYING_AGENT_GUI_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc)
+endif()
+
+
+# #set the default path for built executables to the "bin" directory
+# set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+# #set the default path for built libraries to the "lib" directory
+# set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+# Need c++11 for some things - mainly for the GUI
+add_definitions(-std=c++11)
+
+
+if(Qt5_FOUND)
+  # GUI -- Special Qt sources that need to be wrapped before being compiled
+  # they have the Qt macro QOBJECT inside, the MOC cpp file needs to be done manually
+  set(SRC_HDRS_QOBJECT_GUI
+    ${SYSTEM_CONFIG_GUI_LIB_PATH_INC}/crazyFlyZoneTab.h
+    ${SYSTEM_CONFIG_GUI_LIB_PATH_INC}/myGraphicsScene.h
+    ${SYSTEM_CONFIG_GUI_LIB_PATH_INC}/myGraphicsView.h
+    ${SYSTEM_CONFIG_GUI_LIB_PATH_INC}/mainguiwindow.h
+    ${SYSTEM_CONFIG_GUI_LIB_PATH_INC}/rosNodeThread_for_systemConfigGUI.h
+    ${SYSTEM_CONFIG_GUI_LIB_PATH_INC}/CFLinker.h
+    )
+  # GUI -- wrap UI file and QOBJECT files
+  qt5_wrap_ui(UIS_HDRS_GUI ${SYSTEM_CONFIG_GUI_LIB_PATH_FORMS}/mainguiwindow.ui)
+  qt5_wrap_cpp(SRC_MOC_HDRS_GUI ${SRC_HDRS_QOBJECT_GUI})
+  # GUI -- wrap resource file qrc->rcc
+  qt5_add_resources(SYSTEM_CONFIG_GUI_RESOURCE_FILE_RRC ${SYSTEM_CONFIG_GUI_RESOURCE_FILE_QRC})
+
+
+
+
+  # Flying Agent GUI
+  # - Special Qt sources that need to be wrapped before being compiled
+  #   they have the Qt macro QOBJECT inside, the MOC cpp file needs to
+  #   be done manually
+  set(SRC_HDRS_QOBJECT_FLYING_AGENT_GUI
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/connectstartstopbar.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/controllerstatusbanner.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/controllertabs.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/coordinator.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/coordinatorrow.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/csonecontrollertab.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/defaultcontrollertab.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/enablecontrollerloadyamlbar.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/mainwindow.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/pickercontrollertab.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/remotecontrollertab.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/rosNodeThread_for_flyingAgentGUI.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/safecontrollertab.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/studentcontrollertab.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/templatecontrollertab.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/tutorialcontrollertab.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/topbanner.h
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}/tuningcontrollertab.h
+    )
+  # Flying Agent GUI -- wrap UI file and QOBJECT files
+  qt5_wrap_ui(UIS_HDRS_FLYING_AGENT_GUI
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/connectstartstopbar.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/controllerstatusbanner.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/controllertabs.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/coordinator.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/coordinatorrow.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/csonecontrollertab.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/defaultcontrollertab.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/enablecontrollerloadyamlbar.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/mainwindow.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/pickercontrollertab.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/remotecontrollertab.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/safecontrollertab.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/studentcontrollertab.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/templatecontrollertab.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/tutorialcontrollertab.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/topbanner.ui
+    ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/tuningcontrollertab.ui
+    )
+  qt5_wrap_cpp(SRC_MOC_HDRS_FLYING_AGENT_GUI ${SRC_HDRS_QOBJECT_FLYING_AGENT_GUI})
+  # Flying Agent GUI -- wrap resource file qrc->rcc
+  qt5_add_resources(FLYING_AGENT_GUI_RESOURCE_FILE_RCC ${FLYING_AGENT_GUI_RESOURCE_FILE_QRC})
+endif()
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+add_message_files(
+  FILES
+  AreaBounds.msg
+  ControlCommand.msg
+  CrazyflieContext.msg
+  CrazyflieDB.msg
+  CrazyflieEntry.msg
+  CustomButton.msg
+  DebugMsg.msg
+  FlyingVehicleState.msg
+  GyroMeasurements.msg
+  Setpoint.msg
+  SetpointV2.msg
+  UnlabeledMarker.msg
+  ViconData.msg
+  ViconSubscribeObjectName.msg
+  #------------------------
+  IntWithHeader.msg
+  FloatWithHeader.msg
+  StringWithHeader.msg
+  SetpointWithHeader.msg
+  CustomButtonWithHeader.msg
+  #------------------------
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+add_service_files(
+  FILES
+  IntIntService.srv
+  IntStringService.srv
+  Controller.srv
+  CMRead.srv
+  CMQuery.srv
+  CMQueryCrazyflieName.srv
+  CMUpdate.srv
+  CMCommand.srv
+  LoadYamlFromFilename.srv
+  GetDebugValuesService.srv
+  GetSetpointService.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+if(Qt5_FOUND)
+  catkin_package(
+    INCLUDE_DIRS include ${SYSTEM_CONFIG_GUI_LIB_PATH_INC}   # SystemConfigGUI -- include headers from GUI in package
+    INCLUDE_DIRS include ${FLYING_AGENT_GUI_LIB_PATH_INC}    # FlyingAgentGUI  -- include headers from GUI in package
+    LIBRARIES
+    CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
+    DEPENDS
+  )
+else()
+  catkin_package(
+    LIBRARIES
+    CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
+    DEPENDS
+  )
+endif()
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+if(Qt5_FOUND)
+  include_directories(
+    ${SYSTEM_CONFIG_GUI_LIB_PATH_INC}    # SystemConfigGUI -- include directory inside GUI folder
+    ${FLYING_AGENT_GUI_LIB_PATH_INC}     # FlyingAgentGUI  -- include directory inside GUI folder
+    ${catkin_INCLUDE_DIRS}
+    include
+    include/nodes
+    $ENV{HOME}/Software/osqp-0.5.0-linux64/include
+  )
+else()
+  include_directories(
+    ${catkin_INCLUDE_DIRS}
+    include
+    include/nodes
+  )
+endif()
+
+# Find OSQP library
+# Clear cache to force finding each time
+unset(OSQP_LIBRARY CACHE)
+find_library(OSQP_LIBRARY
+  NAMES libosqp.so
+  PATHS "$ENV{HOME}/Software/osqp-0.5.0-linux64/lib"
+  )
+
+
+## Declare a C++ library
+##add_library(${PROJECT_NAME}
+##  src/blablalba.cpp
+##)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/dfall_pkg_node.cpp)
+
+if(VICON_LIBRARY)
+	add_executable(ViconDataPublisher        src/nodes/ViconDataPublisher.cpp)
+endif()
+
+add_executable(FlyingAgentClient           src/nodes/FlyingAgentClient.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(AgentStatusForWebInterface  src/nodes/AgentStatusForWebInterface.cpp)
+add_executable(BatteryMonitor              src/nodes/BatteryMonitor.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(CrazyRadioEmulator          src/nodes/CrazyRadioEmulator.cpp
+                                           src/classes/QuadrotorSimulator.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(CsoneControllerService      src/nodes/CsoneControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(DefaultControllerService    src/nodes/DefaultControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+# add_executable(SafeControllerService       src/nodes/SafeControllerService.cpp)
+# add_executable(DemoControllerService       src/nodes/DemoControllerService.cpp
+#                                            src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(StudentControllerService    src/nodes/StudentControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+# add_executable(MpcControllerService        src/nodes/MpcControllerService.cpp)
+add_executable(RemoteControllerService     src/nodes/RemoteControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(TuningControllerService     src/nodes/TuningControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(PickerControllerService     src/nodes/PickerControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(TemplateControllerService   src/nodes/TemplateControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(TutorialControllerService   src/nodes/TutorialControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(TestMotorsControllerService src/nodes/TestMotorsControllerService.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(CentralManagerService       src/nodes/CentralManagerService.cpp src/classes/CrazyflieIO.cpp)
+add_executable(ParameterService            src/nodes/ParameterService.cpp)
+
+add_executable(MocapEmulator               src/nodes/MocapEmulator.cpp
+                                           src/classes/QuadrotorSimulator.cpp
+                                           src/classes/GetParamtersAndNamespaces.cpp)
+
+
+
+if(Qt5_FOUND)
+  # GUI -- Add sources here
+  set(SYSTEM_CONFIG_GUI_CPP_SOURCES              # compilation of sources
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/mainguiwindow.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/main.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/cornergrabber.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/crazyFlyZone.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/crazyFlyZoneTab.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/myGraphicsRectItem.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/myGraphicsScene.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/myGraphicsView.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/tablePiece.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/marker.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/rosNodeThread_for_systemConfigGUI.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/crazyFly.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/CFLinker.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/channelLUT.cpp
+      ${SYSTEM_CONFIG_GUI_LIB_PATH_SRC}/centerMarker.cpp
+      )
+
+
+
+
+  # FLYING AGENT GUI -- Add sources here
+  set(FLYING_AGENT_GUI_CPP_SOURCES         # compilation of sources
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/mainwindow.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/main.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/rosNodeThread_for_flyingAgentGUI.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/connectstartstopbar.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/controllerstatusbanner.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/controllertabs.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/coordinator.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/coordinatorrow.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/csonecontrollertab.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/defaultcontrollertab.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/enablecontrollerloadyamlbar.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/pickercontrollertab.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/remotecontrollertab.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/safecontrollertab.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/studentcontrollertab.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/templatecontrollertab.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/tutorialcontrollertab.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/topbanner.cpp
+      ${FLYING_AGENT_GUI_LIB_PATH_SRC}/tuningcontrollertab.cpp
+      )
+
+
+
+  # GUI -- Add executables here
+  add_executable(SystemConfigGUI ${SYSTEM_CONFIG_GUI_CPP_SOURCES} ${UIS_HDRS_GUI} ${SRC_MOC_HDRS_GUI} ${SYSTEM_CONFIG_GUI_RESOURCE_FILE_RRC})
+  qt5_use_modules(SystemConfigGUI Widgets)
+
+
+
+  # FLYING AGENT GUI -- Add executables here
+  add_executable(FlyingAgentGUI ${FLYING_AGENT_GUI_CPP_SOURCES} ${UIS_HDRS_FLYING_AGENT_GUI} ${SRC_MOC_HDRS_FLYING_AGENT_GUI} ${FLYING_AGENT_GUI_RESOURCE_FILE_RCC})
+  qt5_use_modules(FlyingAgentGUI Widgets)
+endif()
+
+
+
+if(VICON_LIBRARY)
+	add_dependencies(ViconDataPublisher       dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+endif()
+
+add_dependencies(FlyingAgentClient           dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(AgentStatusForWebInterface  dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(BatteryMonitor              dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(CrazyRadioEmulator          dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(CsoneControllerService      dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(DefaultControllerService    dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+# add_dependencies(SafeControllerService       dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+# add_dependencies(DemoControllerService       dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(StudentControllerService    dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+# add_dependencies(MpcControllerService        dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(RemoteControllerService     dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(TuningControllerService     dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(PickerControllerService     dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(TemplateControllerService   dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(TutorialControllerService   dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(TestMotorsControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(CentralManagerService       dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(ParameterService            dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+add_dependencies(MocapEmulator               dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+
+
+if(Qt5_FOUND)
+  # GUI-- dependencies
+  add_dependencies(SystemConfigGUI dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+
+
+  # FLYING AGENT GUI-- dependencies
+  add_dependencies(FlyingAgentGUI dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+endif()
+
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+
+
+if(VICON_LIBRARY)
+	target_link_libraries(ViconDataPublisher ${catkin_LIBRARIES})
+	target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
+endif()
+
+target_link_libraries(FlyingAgentClient           ${catkin_LIBRARIES})
+target_link_libraries(AgentStatusForWebInterface  ${catkin_LIBRARIES})
+target_link_libraries(BatteryMonitor              ${catkin_LIBRARIES})
+target_link_libraries(CrazyRadioEmulator          ${catkin_LIBRARIES})
+target_link_libraries(CsoneControllerService      ${catkin_LIBRARIES})
+target_link_libraries(DefaultControllerService    ${catkin_LIBRARIES})
+# target_link_libraries(SafeControllerService       ${catkin_LIBRARIES})
+# target_link_libraries(DemoControllerService       ${catkin_LIBRARIES})
+target_link_libraries(StudentControllerService    ${catkin_LIBRARIES})
+# if(Eigen3_FOUND)
+#   target_link_libraries(MpcControllerService       ${catkin_LIBRARIES} Eigen3::Eigen)
+# else()
+#   target_link_libraries(MpcControllerService       ${catkin_LIBRARIES})
+# endif()
+target_link_libraries(RemoteControllerService     ${catkin_LIBRARIES})
+target_link_libraries(TuningControllerService     ${catkin_LIBRARIES})
+target_link_libraries(PickerControllerService     ${catkin_LIBRARIES})
+target_link_libraries(TemplateControllerService   ${catkin_LIBRARIES})
+target_link_libraries(TutorialControllerService   ${catkin_LIBRARIES} ${OSQP_LIBRARY})
+target_link_libraries(TestMotorsControllerService ${catkin_LIBRARIES})
+target_link_libraries(CentralManagerService       ${catkin_LIBRARIES})
+target_link_libraries(ParameterService            ${catkin_LIBRARIES})
+
+target_link_libraries(MocapEmulator               ${catkin_LIBRARIES})
+
+
+if(Qt5_FOUND)
+  # GUI -- link libraries
+  target_link_libraries(SystemConfigGUI Qt5::Widgets) # GUI -- let SystemConfigGUI have acesss to Qt stuff
+  target_link_libraries(SystemConfigGUI Qt5::Svg)
+  target_link_libraries(SystemConfigGUI ${catkin_LIBRARIES})
+
+
+
+  # Flying Agent GUI -- link libraries
+  target_link_libraries(FlyingAgentGUI Qt5::Widgets) # GUI -- let FlyingAgentGUI have acesss to Qt stuff
+  target_link_libraries(FlyingAgentGUI Qt5::Charts)
+  target_link_libraries(FlyingAgentGUI ${catkin_LIBRARIES})
+endif()
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_dfall_pkg.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

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>

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

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>CsoneControllerTab</class>
+ <widget class="QWidget" name="CsoneControllerTab">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>3197</width>
+    <height>1336</height>
+   </rect>
+  </property>
+  <property name="font">
+   <font>
+    <pointsize>16</pointsize>
+   </font>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="7" column="0">
+    <spacer name="verticalSpacer_3">
+     <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>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="8" column="0">
+    <widget class="QLabel" name="label_time_series_time_2">
+     <property name="text">
+      <string>Time series for pitch angle in degrees</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0">
+    <widget class="QChartView" name="chartView_for_x">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_5">
+     <property name="spacing">
+      <number>0</number>
+     </property>
+     <item>
+      <widget class="QFrame" name="red_frame_position_left">
+       <property name="maximumSize">
+        <size>
+         <width>10</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color:red;</string>
+       </property>
+       <property name="frameShape">
+        <enum>QFrame::StyledPanel</enum>
+       </property>
+       <property name="frameShadow">
+        <enum>QFrame::Raised</enum>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label_time_series_time">
+       <property name="text">
+        <string>Time series for x position in meters</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QFrame" name="red_frame_position_right">
+       <property name="maximumSize">
+        <size>
+         <width>10</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color:red;</string>
+       </property>
+       <property name="frameShape">
+        <enum>QFrame::StyledPanel</enum>
+       </property>
+       <property name="frameShadow">
+        <enum>QFrame::Raised</enum>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="10" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="5" column="0">
+    <layout class="QGridLayout" name="gridLayout_7">
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <item row="2" column="5">
+      <widget class="QLineEdit" name="lineEdit_overshoot_percent">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>---</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="9">
+      <spacer name="horizontalSpacer_4">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="2">
+      <spacer name="horizontalSpacer_5">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="2" column="0">
+      <widget class="QLabel" name="label_step_end">
+       <property name="text">
+        <string>Step End</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="6">
+      <spacer name="horizontalSpacer_6">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label_step_start">
+       <property name="text">
+        <string>Step Start</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="5">
+      <widget class="QLineEdit" name="lineEdit_overshoot_value">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>---</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLineEdit" name="lineEdit_step_start">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>---</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="1">
+      <widget class="QLineEdit" name="lineEdit_step_end">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>---</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="3">
+      <widget class="QLabel" name="label_overshoot_value">
+       <property name="text">
+        <string>Overshoot [meters]</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="3">
+      <widget class="QLabel" name="label_overshoot_percent">
+       <property name="text">
+        <string>Overshoot [percent]</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="7">
+      <widget class="QLabel" name="label_rise_time">
+       <property name="text">
+        <string>Rise Time</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="7">
+      <widget class="QLabel" name="label_rise_time_2">
+       <property name="text">
+        <string>Settling Time</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="8">
+      <widget class="QLineEdit" name="lineEdit_rise_time">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>---</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="8">
+      <widget class="QLineEdit" name="lineEdit_settling_time">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>---</string>
+       </property>
+       <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="6" column="0">
+    <widget class="Line" name="line_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <spacer name="verticalSpacer_2">
+     <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>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="9" column="0">
+    <widget class="QChartView" name="chartView_for_pitch"/>
+   </item>
+   <item row="1" column="0">
+    <widget class="Line" name="line">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <layout class="QGridLayout" name="gridLayout">
+     <property name="topMargin">
+      <number>50</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <item row="1" column="17">
+      <layout class="QGridLayout" name="gridLayout_8">
+       <item row="2" column="0">
+        <widget class="QPushButton" name="reset_integrator_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Reset</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_integrator_state">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>off</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QPushButton" name="toggle_integrator_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Toggle</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="1" column="8">
+      <layout class="QGridLayout" name="gridLayout_13">
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_time_delay_units">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>[milli sec]</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QPushButton" name="set_time_delay_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Set</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLineEdit" name="lineEdit_time_delay">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <family>Source Code Pro</family>
+          </font>
+         </property>
+         <property name="text">
+          <string>0</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="0" column="19">
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>13</width>
+         <height>29</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="17">
+      <widget class="QLabel" name="label_integrator">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Integrator</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="18">
+      <spacer name="horizontalSpacer_8">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>13</width>
+         <height>29</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="10">
+      <widget class="QLabel" name="label_pid_controller">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>PD Controller</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="13">
+      <layout class="QGridLayout" name="gridLayout_4">
+       <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>
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_step_size">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>Size</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QLabel" name="label_step_duration">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>Duration</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLineEdit" name="lineEdit_step_size">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <family>Source Code Pro</family>
+          </font>
+         </property>
+         <property name="text">
+          <string>0.50</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QLineEdit" name="lineEdit_step_duration">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <family>Source Code Pro</family>
+          </font>
+         </property>
+         <property name="text">
+          <string>20</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QPushButton" name="perform_step_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Perform</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <widget class="QPushButton" name="log_data_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Log</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="1" column="10">
+      <layout class="QGridLayout" name="gridLayout_6">
+       <item row="1" column="0">
+        <widget class="QPushButton" name="set_pd_controller_parameters_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Set</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <layout class="QGridLayout" name="gridLayout_5">
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_kp">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>k_p</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QLineEdit" name="lineEdit_kp">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>180</width>
+             <height>60</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <family>Source Code Pro</family>
+            </font>
+           </property>
+           <property name="text">
+            <string>0.5</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QLineEdit" name="lineEdit_kd">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>180</width>
+             <height>60</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <family>Source Code Pro</family>
+            </font>
+           </property>
+           <property name="text">
+            <string>0.2</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="2">
+          <widget class="QLabel" name="label_kd">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>k_d</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </item>
+     <item row="0" column="14">
+      <spacer name="horizontalSpacer_simulation">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>100</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label_lead_compenstor">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Lead Compensator</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="12">
+      <spacer name="horizontalSpacer_3">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>100</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="13">
+      <widget class="QLabel" name="label_step_details">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Step Details</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="15">
+      <layout class="QGridLayout" name="gridLayout_10">
+       <item row="2" column="0">
+        <widget class="QPushButton" name="clear_simulation_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Clear</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QPushButton" name="simulate_step_response_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Perform</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_simulation_blank">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="1" column="0">
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <layout class="QGridLayout" name="gridLayout_3">
+         <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>
+         <item row="1" column="2">
+          <widget class="QLineEdit" name="lineEdit_alpha">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>180</width>
+             <height>60</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <family>Source Code Pro</family>
+            </font>
+           </property>
+           <property name="text">
+            <string>0.50</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_T">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>T</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="2">
+          <widget class="QLabel" name="label_alpha">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>alpha</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLineEdit" name="lineEdit_k">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>180</width>
+             <height>60</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <family>Source Code Pro</family>
+            </font>
+           </property>
+           <property name="text">
+            <string>0.1000</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QLineEdit" name="lineEdit_T">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>180</width>
+             <height>60</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <family>Source Code Pro</family>
+            </font>
+           </property>
+           <property name="text">
+            <string>1.00</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QLabel" name="label_k">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>k</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QPushButton" name="set_lead_compensator_parameters_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Set</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="1" column="1">
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <layout class="QGridLayout" name="gridLayout_9">
+         <item row="1" column="1">
+          <widget class="QLineEdit" name="lineEdit_alpha_lag">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>180</width>
+             <height>60</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <family>Source Code Pro</family>
+            </font>
+           </property>
+           <property name="text">
+            <string>1.00</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QLabel" name="label_T_lag">
+           <property name="text">
+            <string>T</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_alpha_lag">
+           <property name="text">
+            <string>alpha</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLineEdit" name="lineEdit_T_lag">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>180</width>
+             <height>60</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <family>Source Code Pro</family>
+            </font>
+           </property>
+           <property name="text">
+            <string>0.00</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QPushButton" name="set_lag_compensator_parameters_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Set</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="0" column="15">
+      <widget class="QLabel" name="label_simulation">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Simulation</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLabel" name="label_lag_compenstor">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Lag Compensator</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="16">
+      <spacer name="horizontalSpacer_7">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>100</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="8">
+      <widget class="QLabel" name="label_time_delay">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Time Delay</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="9">
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QLabel" name="label_pitch_error_units">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>[degrees]</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="lineEdit_pitch_error">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <family>Source Code Pro</family>
+          </font>
+         </property>
+         <property name="text">
+          <string>0.000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="set_pitch_error_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>1000</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Set</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="0" column="7">
+      <spacer name="horizontalSpacer_pd_controller">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>100</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="9">
+      <widget class="QLabel" name="label_pitch_error">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Pitch Error</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QChartView</class>
+   <extends>QGraphicsView</extends>
+   <header>QtCharts</header>
+  </customwidget>
+ </customwidgets>
+ <tabstops>
+  <tabstop>lineEdit_k</tabstop>
+  <tabstop>lineEdit_T</tabstop>
+  <tabstop>lineEdit_alpha</tabstop>
+  <tabstop>lineEdit_time_delay</tabstop>
+  <tabstop>lineEdit_kp</tabstop>
+  <tabstop>lineEdit_kd</tabstop>
+  <tabstop>lineEdit_step_size</tabstop>
+  <tabstop>lineEdit_step_duration</tabstop>
+  <tabstop>set_lead_compensator_parameters_button</tabstop>
+  <tabstop>set_time_delay_button</tabstop>
+  <tabstop>set_pd_controller_parameters_button</tabstop>
+  <tabstop>perform_step_button</tabstop>
+  <tabstop>log_data_button</tabstop>
+  <tabstop>simulate_step_response_button</tabstop>
+  <tabstop>clear_simulation_button</tabstop>
+  <tabstop>toggle_integrator_button</tabstop>
+  <tabstop>reset_integrator_button</tabstop>
+  <tabstop>lineEdit_rise_time</tabstop>
+  <tabstop>lineEdit_settling_time</tabstop>
+  <tabstop>lineEdit_step_end</tabstop>
+  <tabstop>lineEdit_step_start</tabstop>
+  <tabstop>chartView_for_x</tabstop>
+  <tabstop>chartView_for_pitch</tabstop>
+  <tabstop>lineEdit_overshoot_value</tabstop>
+  <tabstop>lineEdit_overshoot_percent</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>

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

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DefaultControllerTab</class>
+ <widget class="QWidget" name="DefaultControllerTab">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1614</width>
+    <height>991</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="1" column="0">
+    <widget class="Line" name="line">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_6">
+     <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>
+     <item>
+      <widget class="QLabel" name="label_current_state_title">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Current State:</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label_current_state">
+       <property name="text">
+        <string>TextLabel</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_3">
+       <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="4" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <spacer name="verticalSpacer_2">
+     <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>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="0" column="0">
+    <layout class="QGridLayout" name="gridLayout_2">
+     <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>
+     <item row="2" column="1">
+      <widget class="QLabel" name="label_row_x">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>x [m]</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="6">
+      <widget class="QLabel" name="label_increment_title">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Increment</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QLabel" name="label_error_title">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Error</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="1">
+      <widget class="QLabel" name="label_row_yaw">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>yaw [deg]</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QLabel" name="label_error_title_line2">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>meas-ref</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="3">
+      <widget class="QLabel" name="label_current_title_line2">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Setpoint</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="3">
+      <widget class="QLabel" name="label_current_title">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Current</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="6">
+      <widget class="QLabel" name="label_increment_title_line2">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Setpoint</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLabel" name="label_row_y">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>y [m]</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="6">
+      <layout class="QHBoxLayout" name="horizontalLayout_3">
+       <item>
+        <widget class="QPushButton" name="y_increment_minus_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>-</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="lineEdit_setpoint_increment_y">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>140</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <family>Courier</family>
+          </font>
+         </property>
+         <property name="text">
+          <string>0.1</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="y_increment_plus_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>+</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="4" column="6">
+      <layout class="QHBoxLayout" name="horizontalLayout_2">
+       <item>
+        <widget class="QPushButton" name="z_increment_minus_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>-</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="lineEdit_setpoint_increment_z">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>140</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <family>Courier</family>
+          </font>
+         </property>
+         <property name="text">
+          <string>0.1</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="z_increment_plus_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>+</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="2" column="3">
+      <widget class="QLineEdit" name="lineEdit_setpoint_current_x">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</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>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="2">
+      <widget class="QLineEdit" name="lineEdit_error_yaw">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</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>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="6">
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <widget class="QPushButton" name="yaw_increment_minus_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>-</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="lineEdit_setpoint_increment_yaw">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>140</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <family>Courier</family>
+          </font>
+         </property>
+         <property name="text">
+          <string>15</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="yaw_increment_plus_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>+</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="5" column="3">
+      <widget class="QLineEdit" name="lineEdit_setpoint_current_yaw">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</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>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="2">
+      <widget class="QLineEdit" name="lineEdit_error_x">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</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>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="7" column="1">
+      <widget class="QLabel" name="label_row_roll">
+       <property name="text">
+        <string>roll [deg]</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="3">
+      <widget class="QPushButton" name="default_setpoint_button">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Default</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="2">
+      <widget class="QLineEdit" name="lineEdit_error_z">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</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>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label_measured_title">
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>Measured</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="1">
+      <widget class="QLabel" name="label_row_pitch">
+       <property name="text">
+        <string>pitch [deg]</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="2">
+      <widget class="QLineEdit" name="lineEdit_error_y">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</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>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="1">
+      <widget class="QLabel" name="label_row_z">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>z [m]</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="3">
+      <widget class="QLineEdit" name="lineEdit_setpoint_current_y">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</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>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="3">
+      <widget class="QLineEdit" name="lineEdit_setpoint_current_z">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</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>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="6">
+      <layout class="QHBoxLayout" name="horizontalLayout_4">
+       <item>
+        <widget class="QPushButton" name="x_increment_minus_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>-</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="lineEdit_setpoint_increment_x">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>140</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <family>Courier</family>
+          </font>
+         </property>
+         <property name="text">
+          <string>0.1</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="x_increment_plus_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>60</width>
+           <height>60</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>+</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="1" column="0">
+      <layout class="QHBoxLayout" name="horizontalLayout_5">
+       <property name="spacing">
+        <number>0</number>
+       </property>
+       <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>
+       <item>
+        <widget class="QFrame" name="red_frame_position_left">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>10</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color:red;</string>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::StyledPanel</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Raised</enum>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_measured_title_line2">
+         <property name="text">
+          <string>Position</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QFrame" name="red_frame_position_right">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>10</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color:red;</string>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::StyledPanel</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Raised</enum>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="2" column="0">
+      <layout class="QHBoxLayout" name="horizontalLayout_8">
+       <item>
+        <widget class="QLineEdit" name="lineEdit_measured_x">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</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>
+      </layout>
+     </item>
+     <item row="3" column="0">
+      <layout class="QHBoxLayout" name="horizontalLayout_9">
+       <item>
+        <widget class="QLineEdit" name="lineEdit_measured_y">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</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>
+      </layout>
+     </item>
+     <item row="4" column="0">
+      <layout class="QHBoxLayout" name="horizontalLayout_10">
+       <item>
+        <widget class="QLineEdit" name="lineEdit_measured_z">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</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>
+      </layout>
+     </item>
+     <item row="5" column="0">
+      <layout class="QHBoxLayout" name="horizontalLayout_11">
+       <item>
+        <widget class="QLineEdit" name="lineEdit_measured_yaw">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</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>
+      </layout>
+     </item>
+     <item row="6" column="0">
+      <layout class="QHBoxLayout" name="horizontalLayout_12">
+       <item>
+        <widget class="QLineEdit" name="lineEdit_measured_pitch">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</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>
+      </layout>
+     </item>
+     <item row="7" column="0">
+      <layout class="QHBoxLayout" name="horizontalLayout_13">
+       <item>
+        <widget class="QLineEdit" name="lineEdit_measured_roll">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>180</width>
+           <height>60</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>
+      </layout>
+     </item>
+     <item row="2" column="7">
+      <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>
+     <item row="2" column="5">
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="4">
+      <widget class="QLabel" name="label_new_title">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="text">
+        <string>New</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="4">
+      <widget class="QLabel" name="label_new_title_line2">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Setpoint</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="4">
+      <widget class="QLineEdit" name="lineEdit_setpoint_new_x">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="4">
+      <widget class="QLineEdit" name="lineEdit_setpoint_new_y">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="4">
+      <widget class="QLineEdit" name="lineEdit_setpoint_new_z">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="4">
+      <widget class="QLineEdit" name="lineEdit_setpoint_new_yaw">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Courier</family>
+        </font>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="4">
+      <widget class="QPushButton" name="set_setpoint_button">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>180</width>
+         <height>60</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Set New</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>