Updated crazyflie_ws folder with Angel's new stuff. Added the script...

Updated crazyflie_ws folder with Angel's new stuff. Added the script setup_and_compilation.sh which sets up the system locally and compiles it, following instructions from WIKI page of the repository

crazyflie_ws/.rosinstall

@@ -5,3 +5,4 @@
 # IF YOU CHANGE IT, USE rosinstall FOR THE CHANGES TO TAKE EFFECT
 - setup-file: {local-name: /opt/ros/kinetic/setup.sh}
 - other: {local-name: sandbox}
+- other: {local-name: /home/gazebo-cf/crazyflie_ws/sandbox}

crazyflie_ws/.rosinstall.bak

@@ -4,3 +4,4 @@
 # USE THE rosinstall TOOL INSTEAD.
 # IF YOU CHANGE IT, USE rosinstall FOR THE CHANGES TO TAKE EFFECT
 - setup-file: {local-name: /opt/ros/kinetic/setup.sh}
+- other: {local-name: sandbox}

crazyflie_ws/sandbox/crazypkg/build/gui/untitled/.qmake.stash

+QMAKE_DEFAULT_INCDIRS = \
+    /usr/include/c++/5 \
+    /usr/include/x86_64-linux-gnu/c++/5 \
+    /usr/include/c++/5/backward \
+    /usr/lib/gcc/x86_64-linux-gnu/5/include \
+    /usr/local/include \
+    /usr/lib/gcc/x86_64-linux-gnu/5/include-fixed \
+    /usr/include/x86_64-linux-gnu \
+    /usr/include
+QMAKE_DEFAULT_LIBDIRS = \
+    /usr/lib/gcc/x86_64-linux-gnu/5 \
+    /usr/lib/x86_64-linux-gnu \
+    /usr/lib \
+    /lib/x86_64-linux-gnu \
+    /lib

crazyflie_ws/sandbox/crazypkg/build/gui/untitled/moc_mainguiwindow.cpp

 /****************************************************************************
 ** Meta object code from reading C++ file 'mainguiwindow.h'
 **
-** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1)
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.7.0)
 **
 ** WARNING! All changes made in this file will be lost!
 *****************************************************************************/
@@ -12,15 +12,15 @@
 #if !defined(Q_MOC_OUTPUT_REVISION)
 #error "The header file 'mainguiwindow.h' doesn't include <QObject>."
 #elif Q_MOC_OUTPUT_REVISION != 67
-#error "This file was generated using the moc from 5.5.1. It"
+#error "This file was generated using the moc from 5.7.0. It"
 #error "cannot be used with the include files from this version of Qt."
 #error "(The moc has changed too much.)"
 #endif
 
 QT_BEGIN_MOC_NAMESPACE
 struct qt_meta_stringdata_MainGUIWindow_t {
-    QByteArrayData data[34];
-    char stringdata0[827];
+    QByteArrayData data[1];
+    char stringdata0[14];
 };
 #define QT_MOC_LITERAL(idx, ofs, len) \
     Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -29,66 +29,10 @@ struct qt_meta_stringdata_MainGUIWindow_t {
     )
 static const qt_meta_stringdata_MainGUIWindow_t qt_meta_stringdata_MainGUIWindow = {
     {
-QT_MOC_LITERAL(0, 0, 13), // "MainGUIWindow"
-QT_MOC_LITERAL(1, 14, 12), // "runCallbacks"
-QT_MOC_LITERAL(2, 27, 0), // ""
-QT_MOC_LITERAL(3, 28, 20), // "PIDParamTableChanged"
-QT_MOC_LITERAL(4, 49, 5), // "param"
-QT_MOC_LITERAL(5, 55, 21), // "RateParamTableChanged"
-QT_MOC_LITERAL(6, 77, 23), // "positionSetpointChanged"
-QT_MOC_LITERAL(7, 101, 17), // "sampleTimeChanged"
-QT_MOC_LITERAL(8, 119, 21), // "feedforwardCmdChanged"
-QT_MOC_LITERAL(9, 141, 3), // "cmd"
-QT_MOC_LITERAL(10, 145, 21), // "controllerTypeChanged"
-QT_MOC_LITERAL(11, 167, 7), // "checked"
-QT_MOC_LITERAL(12, 175, 21), // "trajectoryTypeChanged"
-QT_MOC_LITERAL(13, 197, 21), // "on_buttonStop_clicked"
-QT_MOC_LITERAL(14, 219, 22), // "on_buttonPrint_clicked"
-QT_MOC_LITERAL(15, 242, 31), // "on_buttonSetpointChange_clicked"
-QT_MOC_LITERAL(16, 274, 33), // "on_buttonPIDDefaultParams_cli..."
-QT_MOC_LITERAL(17, 308, 32), // "on_buttonSetpointCurrPos_clicked"
-QT_MOC_LITERAL(18, 341, 35), // "on_buttonDefaultFeedforward_c..."
-QT_MOC_LITERAL(19, 377, 28), // "on_buttonResetMissed_clicked"
-QT_MOC_LITERAL(20, 406, 23), // "on_SetpointHome_clicked"
-QT_MOC_LITERAL(21, 430, 23), // "on_setpointZ200_clicked"
-QT_MOC_LITERAL(22, 454, 33), // "on_slideMotorCmdTest_valueCha..."
-QT_MOC_LITERAL(23, 488, 5), // "value"
-QT_MOC_LITERAL(24, 494, 33), // "on_buttonResetControllers_cli..."
-QT_MOC_LITERAL(25, 528, 29), // "on_buttonSetDefaultTs_clicked"
-QT_MOC_LITERAL(26, 558, 37), // "on_buttonSetDefaultRateParams..."
-QT_MOC_LITERAL(27, 596, 34), // "on_slideRollAngleTest_valueCh..."
-QT_MOC_LITERAL(28, 631, 35), // "on_slidePitchAngleTest_valueC..."
-QT_MOC_LITERAL(29, 667, 33), // "on_slideYawAngleTest_valueCha..."
-QT_MOC_LITERAL(30, 701, 33), // "on_slideRollRateTest_valueCha..."
-QT_MOC_LITERAL(31, 735, 34), // "on_slidePitchRateTest_valueCh..."
-QT_MOC_LITERAL(32, 770, 32), // "on_slideYawRateTest_valueChanged"
-QT_MOC_LITERAL(33, 803, 23) // "on_buttonStop_2_clicked"
+QT_MOC_LITERAL(0, 0, 13) // "MainGUIWindow"
 
     },
-    "MainGUIWindow\0runCallbacks\0\0"
-    "PIDParamTableChanged\0param\0"
-    "RateParamTableChanged\0positionSetpointChanged\0"
-    "sampleTimeChanged\0feedforwardCmdChanged\0"
-    "cmd\0controllerTypeChanged\0checked\0"
-    "trajectoryTypeChanged\0on_buttonStop_clicked\0"
-    "on_buttonPrint_clicked\0"
-    "on_buttonSetpointChange_clicked\0"
-    "on_buttonPIDDefaultParams_clicked\0"
-    "on_buttonSetpointCurrPos_clicked\0"
-    "on_buttonDefaultFeedforward_clicked\0"
-    "on_buttonResetMissed_clicked\0"
-    "on_SetpointHome_clicked\0on_setpointZ200_clicked\0"
-    "on_slideMotorCmdTest_valueChanged\0"
-    "value\0on_buttonResetControllers_clicked\0"
-    "on_buttonSetDefaultTs_clicked\0"
-    "on_buttonSetDefaultRateParams_clicked\0"
-    "on_slideRollAngleTest_valueChanged\0"
-    "on_slidePitchAngleTest_valueChanged\0"
-    "on_slideYawAngleTest_valueChanged\0"
-    "on_slideRollRateTest_valueChanged\0"
-    "on_slidePitchRateTest_valueChanged\0"
-    "on_slideYawRateTest_valueChanged\0"
-    "on_buttonStop_2_clicked"
+    "MainGUIWindow"
 };
 #undef QT_MOC_LITERAL
 
@@ -98,113 +42,22 @@ static const uint qt_meta_data_MainGUIWindow[] = {
        7,       // revision
        0,       // classname
        0,    0, // classinfo
-      28,   14, // methods
+       0,    0, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
        0,       // flags
        0,       // signalCount
 
- // slots: name, argc, parameters, tag, flags
-       1,    0,  154,    2, 0x0a /* Public */,
-       3,    1,  155,    2, 0x08 /* Private */,
-       5,    1,  158,    2, 0x08 /* Private */,
-       6,    1,  161,    2, 0x08 /* Private */,
-       7,    1,  164,    2, 0x08 /* Private */,
-       8,    1,  167,    2, 0x08 /* Private */,
-      10,    1,  170,    2, 0x08 /* Private */,
-      12,    1,  173,    2, 0x08 /* Private */,
-      13,    0,  176,    2, 0x08 /* Private */,
-      14,    0,  177,    2, 0x08 /* Private */,
-      15,    0,  178,    2, 0x08 /* Private */,
-      16,    0,  179,    2, 0x08 /* Private */,
-      17,    0,  180,    2, 0x08 /* Private */,
-      18,    0,  181,    2, 0x08 /* Private */,
-      19,    0,  182,    2, 0x08 /* Private */,
-      20,    0,  183,    2, 0x08 /* Private */,
-      21,    0,  184,    2, 0x08 /* Private */,
-      22,    1,  185,    2, 0x08 /* Private */,
-      24,    0,  188,    2, 0x08 /* Private */,
-      25,    0,  189,    2, 0x08 /* Private */,
-      26,    0,  190,    2, 0x08 /* Private */,
-      27,    1,  191,    2, 0x08 /* Private */,
-      28,    1,  194,    2, 0x08 /* Private */,
-      29,    1,  197,    2, 0x08 /* Private */,
-      30,    1,  200,    2, 0x08 /* Private */,
-      31,    1,  203,    2, 0x08 /* Private */,
-      32,    1,  206,    2, 0x08 /* Private */,
-      33,    0,  209,    2, 0x08 /* Private */,
-
- // slots: parameters
-    QMetaType::Void,
-    QMetaType::Void, QMetaType::Double,    4,
-    QMetaType::Void, QMetaType::Double,    4,
-    QMetaType::Void, QMetaType::Double,    4,
-    QMetaType::Void, QMetaType::Double,    4,
-    QMetaType::Void, QMetaType::Double,    9,
-    QMetaType::Void, QMetaType::Bool,   11,
-    QMetaType::Void, QMetaType::Bool,   11,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void, QMetaType::Int,   23,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void,
-    QMetaType::Void, QMetaType::Int,   23,
-    QMetaType::Void, QMetaType::Int,   23,
-    QMetaType::Void, QMetaType::Int,   23,
-    QMetaType::Void, QMetaType::Int,   23,
-    QMetaType::Void, QMetaType::Int,   23,
-    QMetaType::Void, QMetaType::Int,   23,
-    QMetaType::Void,
-
        0        // eod
 };
 
 void MainGUIWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
 {
-    if (_c == QMetaObject::InvokeMetaMethod) {
-        MainGUIWindow *_t = static_cast<MainGUIWindow *>(_o);
-        Q_UNUSED(_t)
-        switch (_id) {
-        case 0: _t->runCallbacks(); break;
-        case 1: _t->PIDParamTableChanged((*reinterpret_cast< double(*)>(_a[1]))); break;
-        case 2: _t->RateParamTableChanged((*reinterpret_cast< double(*)>(_a[1]))); break;
-        case 3: _t->positionSetpointChanged((*reinterpret_cast< double(*)>(_a[1]))); break;
-        case 4: _t->sampleTimeChanged((*reinterpret_cast< double(*)>(_a[1]))); break;
-        case 5: _t->feedforwardCmdChanged((*reinterpret_cast< double(*)>(_a[1]))); break;
-        case 6: _t->controllerTypeChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
-        case 7: _t->trajectoryTypeChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
-        case 8: _t->on_buttonStop_clicked(); break;
-        case 9: _t->on_buttonPrint_clicked(); break;
-        case 10: _t->on_buttonSetpointChange_clicked(); break;
-        case 11: _t->on_buttonPIDDefaultParams_clicked(); break;
-        case 12: _t->on_buttonSetpointCurrPos_clicked(); break;
-        case 13: _t->on_buttonDefaultFeedforward_clicked(); break;
-        case 14: _t->on_buttonResetMissed_clicked(); break;
-        case 15: _t->on_SetpointHome_clicked(); break;
-        case 16: _t->on_setpointZ200_clicked(); break;
-        case 17: _t->on_slideMotorCmdTest_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 18: _t->on_buttonResetControllers_clicked(); break;
-        case 19: _t->on_buttonSetDefaultTs_clicked(); break;
-        case 20: _t->on_buttonSetDefaultRateParams_clicked(); break;
-        case 21: _t->on_slideRollAngleTest_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 22: _t->on_slidePitchAngleTest_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 23: _t->on_slideYawAngleTest_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 24: _t->on_slideRollRateTest_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 25: _t->on_slidePitchRateTest_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 26: _t->on_slideYawRateTest_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 27: _t->on_buttonStop_2_clicked(); break;
-        default: ;
-        }
-    }
+    Q_UNUSED(_o);
+    Q_UNUSED(_id);
+    Q_UNUSED(_c);
+    Q_UNUSED(_a);
 }
 
 const QMetaObject MainGUIWindow::staticMetaObject = {
@@ -231,15 +84,6 @@ int MainGUIWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     _id = QMainWindow::qt_metacall(_c, _id, _a);
     if (_id < 0)
         return _id;
-    if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 28)
-            qt_static_metacall(this, _c, _id, _a);
-        _id -= 28;
-    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 28)
-            *reinterpret_cast<int*>(_a[0]) = -1;
-        _id -= 28;
-    }
     return _id;
 }
 QT_END_MOC_NAMESPACE

crazyflie_ws/sandbox/crazypkg/build/gui/untitled/ui_mainguiwindow.h

+/********************************************************************************
+** Form generated from reading UI file 'mainguiwindow.ui'
+**
+** Created by: Qt User Interface Compiler version 5.7.0
+**
+** WARNING! All changes made in this file will be lost when recompiling UI file!
+********************************************************************************/
+
+#ifndef UI_MAINGUIWINDOW_H
+#define UI_MAINGUIWINDOW_H
+
+#include <QtCore/QVariant>
+#include <QtWidgets/QAction>
+#include <QtWidgets/QApplication>
+#include <QtWidgets/QButtonGroup>
+#include <QtWidgets/QFrame>
+#include <QtWidgets/QHeaderView>
+#include <QtWidgets/QMainWindow>
+#include <QtWidgets/QMenuBar>
+#include <QtWidgets/QStatusBar>
+#include <QtWidgets/QTabWidget>
+#include <QtWidgets/QToolBar>
+#include <QtWidgets/QWidget>
+
+QT_BEGIN_NAMESPACE
+
+class Ui_MainGUIWindow
+{
+public:
+    QWidget *centralWidget;
+    QFrame *frame;
+    QTabWidget *tabWidget;
+    QWidget *tab;
+    QWidget *tab_2;
+    QFrame *frame_2;
+    QFrame *frame_3;
+    QMenuBar *menuBar;
+    QToolBar *mainToolBar;
+    QStatusBar *statusBar;
+
+    void setupUi(QMainWindow *MainGUIWindow)
+    {
+        if (MainGUIWindow->objectName().isEmpty())
+            MainGUIWindow->setObjectName(QStringLiteral("MainGUIWindow"));
+        MainGUIWindow->resize(1701, 923);
+        centralWidget = new QWidget(MainGUIWindow);
+        centralWidget->setObjectName(QStringLiteral("centralWidget"));
+        frame = new QFrame(centralWidget);
+        frame->setObjectName(QStringLiteral("frame"));
+        frame->setGeometry(QRect(40, 500, 1171, 361));
+        frame->setFrameShape(QFrame::StyledPanel);
+        frame->setFrameShadow(QFrame::Raised);
+        tabWidget = new QTabWidget(frame);
+        tabWidget->setObjectName(QStringLiteral("tabWidget"));
+        tabWidget->setGeometry(QRect(20, 19, 1071, 311));
+        tab = new QWidget();
+        tab->setObjectName(QStringLiteral("tab"));
+        tabWidget->addTab(tab, QString());
+        tab_2 = new QWidget();
+        tab_2->setObjectName(QStringLiteral("tab_2"));
+        tabWidget->addTab(tab_2, QString());
+        frame_2 = new QFrame(centralWidget);
+        frame_2->setObjectName(QStringLiteral("frame_2"));
+        frame_2->setGeometry(QRect(40, 10, 451, 481));
+        frame_2->setFrameShape(QFrame::StyledPanel);
+        frame_2->setFrameShadow(QFrame::Raised);
+        frame_3 = new QFrame(centralWidget);
+        frame_3->setObjectName(QStringLiteral("frame_3"));
+        frame_3->setGeometry(QRect(529, 9, 681, 481));
+        frame_3->setFrameShape(QFrame::StyledPanel);
+        frame_3->setFrameShadow(QFrame::Raised);
+        MainGUIWindow->setCentralWidget(centralWidget);
+        menuBar = new QMenuBar(MainGUIWindow);
+        menuBar->setObjectName(QStringLiteral("menuBar"));
+        menuBar->setGeometry(QRect(0, 0, 1701, 19));
+        MainGUIWindow->setMenuBar(menuBar);
+        mainToolBar = new QToolBar(MainGUIWindow);
+        mainToolBar->setObjectName(QStringLiteral("mainToolBar"));
+        MainGUIWindow->addToolBar(Qt::TopToolBarArea, mainToolBar);
+        statusBar = new QStatusBar(MainGUIWindow);
+        statusBar->setObjectName(QStringLiteral("statusBar"));
+        MainGUIWindow->setStatusBar(statusBar);
+
+        retranslateUi(MainGUIWindow);
+
+        QMetaObject::connectSlotsByName(MainGUIWindow);
+    } // setupUi
+
+    void retranslateUi(QMainWindow *MainGUIWindow)
+    {
+        MainGUIWindow->setWindowTitle(QApplication::translate("MainGUIWindow", "MainGUIWindow", 0));
+        tabWidget->setTabText(tabWidget->indexOf(tab), QApplication::translate("MainGUIWindow", "Tab 1", 0));
+        tabWidget->setTabText(tabWidget->indexOf(tab_2), QApplication::translate("MainGUIWindow", "Tab 2", 0));
+    } // retranslateUi
+
+};
+
+namespace Ui {
+    class MainGUIWindow: public Ui_MainGUIWindow {};
+} // namespace Ui
+
+QT_END_NAMESPACE
+
+#endif // UI_MAINGUIWINDOW_H

crazyflie_ws/sandbox/crazypkg/gui/untitled/.qmake.stash

+QMAKE_DEFAULT_INCDIRS = \
+    /usr/include/c++/5 \
+    /usr/include/x86_64-linux-gnu/c++/5 \
+    /usr/include/c++/5/backward \
+    /usr/lib/gcc/x86_64-linux-gnu/5/include \
+    /usr/local/include \
+    /usr/lib/gcc/x86_64-linux-gnu/5/include-fixed \
+    /usr/include/x86_64-linux-gnu \
+    /usr/include
+QMAKE_DEFAULT_LIBDIRS = \
+    /usr/lib/gcc/x86_64-linux-gnu/5 \
+    /usr/lib/x86_64-linux-gnu \
+    /usr/lib \
+    /lib/x86_64-linux-gnu \
+    /lib

crazyflie_ws/sandbox/crazypkg/gui/untitled/main.cpp

-#include "CrazyFlieInclude.h"
 #include "mainguiwindow.h"
 #include "ui_mainguiwindow.h"
 #include <QApplication>
 
-
+#ifndef DEBUG_GUI
+#include "CrazyFlieInclude.h"
+#endif
 
 int main(int argc, char *argv[])
 {
+    #ifndef DEBUG_GUI
     ros::init(argc, argv, "GUI");
     ros::NodeHandle nodeHandle("~");
-
+    #endif
     QApplication applicationGUI(argc, argv);
 
+    #ifndef DEBUG_GUI
     MainGUIWindow mainWindow(&nodeHandle);
     mainWindow.init();
+    #else
+    MainGUIWindow mainWindow;
+    #endif
 
-    QTimer *timerExecuteCallbacs = new QTimer(&applicationGUI);
-    mainWindow.connect(timerExecuteCallbacs, SIGNAL(timeout()), &mainWindow, SLOT(runCallbacks()));
-    timerExecuteCallbacs->start(100);
+    #ifndef DEBUG_GUI
+    QTimer *timerExecuteCallbacks = new QTimer(&applicationGUI);
+    mainWindow.connect(timerExecuteCallbacks, SIGNAL(timeout()), &mainWindow, SLOT(runCallbacks()));
+    timerExecuteCallbacks->start(100);
+    #endif
 
     mainWindow.show();
     applicationGUI.exec();
 
-
+    #ifndef DEBUG_GUI
     ROS_WARN("GUI application terminated");
+    #endif
 }

crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.h

 #ifndef MAINGUIWINDOW_H
 #define MAINGUIWINDOW_H
-//#include "/home/crazyfly/Qt5.7.0/5.7/gcc_64/include/QtWidgets/QMainWindow"
+
+// #define DEBUG_GUI
+
 #include <QMainWindow>
-#include "ros/callback_queue.h"
 #include <QTimer>
+
+#ifndef DEBUG_GUI
+#include "ros/callback_queue.h"
 #include "ros/ros.h"
 #include "CrazyFlieTypes.h"
+#endif
 #include "ui_mainguiwindow.h"
 
+
 namespace Ui {
 class MainGUIWindow;
 }
 
-//bool flagMotorCommandsGUI;
 
+#ifndef DEBUG_GUI
 struct setpoint
 {
     double x;
@@ -43,108 +49,120 @@ private:
     QueueElem* currElem;
     QueueElem* lastElem;
 };
-
+#endif
 
 class MainGUIWindow : public QMainWindow
 {
     Q_OBJECT
 
 public:
-    explicit MainGUIWindow(ros::NodeHandle*, /*ros::CallbackQueue* callbackQueue, ros::Publisher* publisherMotorCommandsGUI,*/ QWidget *parent = 0);
+    #ifdef DEBUG_GUI
+    explicit MainGUIWindow(/*ros::NodeHandle* ,*/ /*ros::CallbackQueue* callbackQueue, ros::Publisher* publisherMotorCommandsGUI,*/ QWidget *parent = 0);
+    #else
+    explicit MainGUIWindow(ros::NodeHandle* , /*ros::CallbackQueue* callbackQueue, ros::Publisher* publisherMotorCommandsGUI,*/ QWidget *parent = 0);
+    #endif
     ~MainGUIWindow();
+    #ifndef DEBUG_GUI
     void init();
+    #endif
 public slots:
+    #ifndef DEBUG_GUI
     void runCallbacks();
+    #endif
 private slots:
+    #ifndef DEBUG_GUI
+   // void PIDParamTableChanged(double param);
 
-    void PIDParamTableChanged(double param);
-
-    void RateParamTableChanged(double param);
+   // void RateParamTableChanged(double param);
 
-    void positionSetpointChanged(double param);
+   // void positionSetpointChanged(double param);
 
-    void sampleTimeChanged(double param);
+   // void sampleTimeChanged(double param);
 
-    void feedforwardCmdChanged(double cmd);
+   // void feedforwardCmdChanged(double cmd);
 
-    void controllerTypeChanged(bool checked);
+   // void controllerTypeChanged(bool checked);
 
-    void trajectoryTypeChanged(bool checked);
+   // void trajectoryTypeChanged(bool checked);
 
-    void on_buttonStop_clicked();
+   // void on_buttonStop_clicked();
 
-    void on_buttonPrint_clicked();
+   // void on_buttonPrint_clicked();
 
-    void on_buttonSetpointChange_clicked();
+   // void on_buttonSetpointChange_clicked();
 
-    void on_buttonPIDDefaultParams_clicked();
+   // void on_buttonPIDDefaultParams_clicked();
 
-    void on_buttonSetpointCurrPos_clicked();
+   // void on_buttonSetpointCurrPos_clicked();
 
-    void on_buttonDefaultFeedforward_clicked();
+   // void on_buttonDefaultFeedforward_clicked();
 
-    void on_buttonResetMissed_clicked();
+   // void on_buttonResetMissed_clicked();
 
-    void on_SetpointHome_clicked();
+   // void on_SetpointHome_clicked();
 
-    void on_setpointZ200_clicked();
+   // void on_setpointZ200_clicked();
 
-    void on_slideMotorCmdTest_valueChanged(int value);
+   // void on_slideMotorCmdTest_valueChanged(int value);
 
-    void on_buttonResetControllers_clicked();
+   // void on_buttonResetControllers_clicked();
 
-    void on_buttonSetDefaultTs_clicked();
+   // void on_buttonSetDefaultTs_clicked();
 
-    void on_buttonSetDefaultRateParams_clicked();
+   // void on_buttonSetDefaultRateParams_clicked();
 
-    void on_slideRollAngleTest_valueChanged(int value);
+   // void on_slideRollAngleTest_valueChanged(int value);
 
-    void on_slidePitchAngleTest_valueChanged(int value);
+   // void on_slidePitchAngleTest_valueChanged(int value);
 
-    void on_slideYawAngleTest_valueChanged(int value);
+   // void on_slideYawAngleTest_valueChanged(int value);
 
-    void on_slideRollRateTest_valueChanged(int value);
+   // void on_slideRollRateTest_valueChanged(int value);
 
-    void on_slidePitchRateTest_valueChanged(int value);
+   // void on_slidePitchRateTest_valueChanged(int value);
 
-    void on_slideYawRateTest_valueChanged(int value);
+   // void on_slideYawRateTest_valueChanged(int value);
 
-    void on_buttonStop_2_clicked();
+   // void on_buttonStop_2_clicked();
+   #endif
 
 private:
-    void refreshScreen();
 
-    //callbacks