Commit 72b8d9f9 authored by Don Gagne's avatar Don Gagne

Merge pull request #1915 from DonLakeFlyer/TBButtons

New toolbar dropdowns
parents 69d14982 2b206c00
......@@ -201,11 +201,8 @@ FORMS += \
src/ui/uas/UASMessageView.ui \
src/ui/uas/UASQuickView.ui \
src/ui/uas/UASQuickViewItemSelect.ui \
src/ui/UASControl.ui \
src/ui/UASInfo.ui \
src/ui/UASList.ui \
src/ui/UASRawStatusView.ui \
src/ui/UASView.ui \
src/ui/WaypointEditableView.ui \
src/ui/WaypointList.ui \
src/ui/WaypointViewOnlyView.ui \
......@@ -322,16 +319,13 @@ HEADERS += \
src/ui/SettingsDialog.h \
src/ui/toolbar/MainToolBar.h \
src/ui/uas/QGCUnconnectedInfoWidget.h \
src/ui/uas/UASControlWidget.h \
src/ui/uas/UASInfoWidget.h \
src/ui/uas/UASListWidget.h \
src/ui/uas/UASMessageView.h \
src/ui/uas/UASQuickView.h \
src/ui/uas/UASQuickViewGaugeItem.h \
src/ui/uas/UASQuickViewItem.h \
src/ui/uas/UASQuickViewItemSelect.h \
src/ui/uas/UASQuickViewTextItem.h \
src/ui/uas/UASView.h \
src/ui/UASRawStatusView.h \
src/ui/WaypointEditableView.h \
src/ui/WaypointList.h \
......@@ -452,16 +446,13 @@ SOURCES += \
src/ui/SettingsDialog.cc \
src/ui/toolbar/MainToolBar.cc \
src/ui/uas/QGCUnconnectedInfoWidget.cc \
src/ui/uas/UASControlWidget.cc \
src/ui/uas/UASInfoWidget.cc \
src/ui/uas/UASListWidget.cc \
src/ui/uas/UASMessageView.cc \
src/ui/uas/UASQuickView.cc \
src/ui/uas/UASQuickViewGaugeItem.cc \
src/ui/uas/UASQuickViewItem.cc \
src/ui/uas/UASQuickViewItemSelect.cc \
src/ui/uas/UASQuickViewTextItem.cc \
src/ui/uas/UASView.cc \
src/ui/UASRawStatusView.cpp \
src/ui/WaypointEditableView.cc \
src/ui/WaypointList.cc \
......
......@@ -39,7 +39,6 @@ AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
Q_ASSERT(vehicle);
connect(_vehicle->uas(), &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
connect(_vehicle->uas(), &UASInterface::armingChanged, this, &AutoPilotPlugin::armedChanged);
connect(this, &AutoPilotPlugin::pluginReadyChanged, this, &AutoPilotPlugin::_pluginReadyChanged);
}
......@@ -176,8 +175,3 @@ QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
{
return _getParameterLoader()->readParametersFromStream(stream);
}
bool AutoPilotPlugin::armed(void)
{
return _vehicle->uas()->isArmed();
}
......@@ -63,8 +63,6 @@ public:
/// false: One or more vehicle components require setup
Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
Q_PROPERTY(bool armed READ armed NOTIFY armedChanged)
/// Reset all parameters to their default values
Q_INVOKABLE void resetAllParametersToDefaults(void);
......@@ -117,7 +115,6 @@ public:
// Property accessors
bool pluginReady(void) { return _pluginReady; }
bool setupComplete(void);
bool armed(void);
Vehicle* vehicle(void) { return _vehicle; }
......@@ -125,7 +122,6 @@ signals:
void pluginReadyChanged(bool pluginReady);
void setupCompleteChanged(bool setupComplete);
void parameterListProgress(float value);
void armedChanged(bool armed);
protected:
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
......
......@@ -115,7 +115,6 @@ QUrl SensorsComponent::summaryQmlSource(void) const
{
QString summaryQml;
qDebug() << _uas->getSystemType();
if (_uas->getSystemType() == MAV_TYPE_FIXED_WING ||
_uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||
_uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR ||
......
......@@ -191,5 +191,5 @@ void PX4FirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
bool PX4FirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
{
return capabilities == MavCmdPreflightStorageCapability;
return capabilities && (MavCmdPreflightStorageCapability | SetFlightModeCapability);
}
......@@ -42,7 +42,7 @@ QGC_LOGGING_CATEGORY(JoystickValuesLog, "JoystickValuesLog")
const char* Joystick::_settingsGroup = "Joysticks";
const char* Joystick::_calibratedSettingsKey = "Calibrated";
const char* Joystick::_buttonActionSettingsKey = "ButtonAction%1";
const char* Joystick::_buttonActionSettingsKey = "ButtonActionName%1";
const char* Joystick::_throttleModeSettingsKey = "ThrottleMode";
const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
......@@ -144,10 +144,8 @@ void Joystick::_loadSettings(void)
}
for (int button=0; button<_cButtons; button++) {
_rgButtonActions[button] = settings.value(QString(_buttonActionSettingsKey).arg(button), -1).toInt(&convertOk);
badSettings |= !convertOk;
qCDebug(JoystickLog) << "_loadSettings button:action:badsettings" << button << _rgButtonActions[button] << badSettings;
_rgButtonActions[button] = settings.value(QString(_buttonActionSettingsKey).arg(button), QString()).toString();
qCDebug(JoystickLog) << "_loadSettings button:action" << button << _rgButtonActions[button];
}
if (badSettings) {
......@@ -322,10 +320,9 @@ void Joystick::run(void)
if (buttonIndex >= reservedButtonCount) {
// Button is above firmware reserved set
int buttonAction =_rgButtonActions[buttonIndex];
if (buttonAction != -1) {
qCDebug(JoystickLog) << "buttonActionTriggered" << buttonAction;
emit buttonActionTriggered(buttonAction);
QString buttonAction =_rgButtonActions[buttonIndex];
if (!buttonAction.isEmpty()) {
_buttonAction(buttonAction);
}
}
}
......@@ -369,7 +366,8 @@ void Joystick::startPolling(Vehicle* vehicle)
UAS* uas = _activeVehicle->uas();
connect(this, &Joystick::manualControl, uas, &UAS::setExternalControlSetpoint);
connect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
// FIXME: ****
//connect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
_exitThread = false;
start();
......@@ -382,7 +380,8 @@ void Joystick::stopPolling(void)
UAS* uas = _activeVehicle->uas();
disconnect(this, &Joystick::manualControl, uas, &UAS::setExternalControlSetpoint);
disconnect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
// FIXME: ****
//disconnect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
_exitThread = true;
}
......@@ -435,27 +434,27 @@ int Joystick::getFunctionAxis(AxisFunction_t function)
QStringList Joystick::actions(void)
{
QStringList list;
foreach(QAction* action, MultiVehicleManager::instance()->activeVehicle()->uas()->getActions()) {
list += action->text();
}
list << "Arm" << "Disarm";
return list;
}
void Joystick::setButtonAction(int button, int action)
void Joystick::setButtonAction(int button, const QString& action)
{
if (button < 0 || button > _cButtons) {
qCWarning(JoystickLog) << "Invalid button index" << button;
return;
}
qDebug() << "setButtonAction" << action;
_rgButtonActions[button] = action;
_saveSettings();
emit buttonActionsChanged(buttonActions());
}
int Joystick::getButtonAction(int button)
QString Joystick::getButtonAction(int button)
{
if (button < 0 || button > _cButtons) {
qCWarning(JoystickLog) << "Invalid button index" << button;
......@@ -512,9 +511,6 @@ void Joystick::stopCalibrationMode(CalibrationMode_t mode)
if (mode == CalibrationModeOff) {
qWarning() << "Incorrect mode: CalibrationModeOff";
return;
} else if (mode != _calibrationMode) {
qWarning() << "Incorrect mode sequence request:active" << mode << _calibrationMode;
return;
}
if (mode == CalibrationModeCalibrating) {
......@@ -527,4 +523,15 @@ void Joystick::stopCalibrationMode(CalibrationMode_t mode)
}
}
void Joystick::_buttonAction(const QString& action)
{
if (action == "Arm") {
_activeVehicle->setArmed(true);
} else if (action == "Disarm") {
_activeVehicle->setArmed(false);
} else {
qCDebug(JoystickLog) << "_buttonAction unknown action:" << action;
}
}
#endif // __mobile__
......@@ -73,8 +73,8 @@ public:
Q_PROPERTY(QStringList actions READ actions CONSTANT)
Q_PROPERTY(QVariantList buttonActions READ buttonActions NOTIFY buttonActionsChanged)
Q_INVOKABLE void setButtonAction(int button, int action);
Q_INVOKABLE int getButtonAction(int button);
Q_INVOKABLE void setButtonAction(int button, const QString& action);
Q_INVOKABLE QString getButtonAction(int button);
Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
......@@ -135,6 +135,7 @@ private:
void _saveSettings(void);
void _loadSettings(void);
float _adjustRange(int value, Calibration_t calibration);
void _buttonAction(const QString& action);
// Override from QThread
virtual void run(void);
......@@ -158,7 +159,7 @@ private:
static const int _cButtons = 12;
bool _rgButtonValues[_cButtons];
int _rgButtonActions[_cButtons];
QString _rgButtonActions[_cButtons];
quint16 _lastButtonBits;
ThrottleMode_t _throttleMode;
......
......@@ -27,6 +27,7 @@
#include "QmlObjectListModel.h"
#include <QDebug>
#include <QQmlEngine>
const int QmlObjectListModel::ObjectRole = Qt::UserRole;
const int QmlObjectListModel::TextRole = Qt::UserRole + 1;
......@@ -156,6 +157,8 @@ void QmlObjectListModel::insert(int i, QObject* object)
qWarning() << "Invalid index index:count" << i << _objectList.count();
}
QQmlEngine::setObjectOwnership(object, QQmlEngine::CppOwnership);
_objectList.insert(i, object);
insertRows(i, 1);
}
......
......@@ -58,7 +58,7 @@ public:
/// @return true: continue further processing of this message, false: disregard this message
bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
Vehicle* getVehicleById(int vehicleId);
Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
void setHomePositionForAllVehicles(double lat, double lon, double alt);
......
This diff is collapsed.
......@@ -35,6 +35,7 @@
#include "QGCMAVLink.h"
#include "MissionItem.h"
#include "QmlObjectListModel.h"
#include "MAVLinkProtocol.h"
class UAS;
class UASInterface;
......@@ -62,6 +63,14 @@ public:
Q_PROPERTY(bool homePositionAvailable READ homePositionAvailable NOTIFY homePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate homePosition READ homePosition NOTIFY homePositionChanged)
Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged)
Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT)
Q_PROPERTY(QStringList flightModes READ flightModes CONSTANT)
Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged)
Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
Q_INVOKABLE QString getMavIconColor();
//-- System Messages
......@@ -87,8 +96,6 @@ public:
Q_PROPERTY(double batteryVoltage READ batteryVoltage NOTIFY batteryVoltageChanged)
Q_PROPERTY(double batteryPercent READ batteryPercent NOTIFY batteryPercentChanged)
Q_PROPERTY(double batteryConsumed READ batteryConsumed NOTIFY batteryConsumedChanged)
Q_PROPERTY(bool systemArmed READ systemArmed NOTIFY systemArmedChanged)
Q_PROPERTY(QString currentMode READ currentMode NOTIFY currentModeChanged)
Q_PROPERTY(QString systemPixmap READ systemPixmap NOTIFY systemPixmapChanged)
Q_PROPERTY(int satelliteCount READ satelliteCount NOTIFY satelliteCountChanged)
Q_PROPERTY(QString currentState READ currentState NOTIFY currentStateChanged)
......@@ -160,6 +167,17 @@ public:
bool homePositionAvailable(void);
QGeoCoordinate homePosition(void);
bool armed(void) { return _armed; }
void setArmed(bool armed);
bool flightModeSetAvailable(void);
QStringList flightModes(void);
QString flightMode(void);
void setFlightMode(const QString& flightMode);
bool hilMode(void);
void setHilMode(bool hilMode);
typedef enum {
MessageNone,
MessageNormal,
......@@ -206,8 +224,6 @@ public:
double batteryVoltage () { return _batteryVoltage; }
double batteryPercent () { return _batteryPercent; }
double batteryConsumed () { return _batteryConsumed; }
bool systemArmed () { return _systemArmed; }
QString currentMode () { return _currentMode; }
QString systemPixmap () { return _systemPixmap; }
QString currentState () { return _currentState; }
QString systemName () { return _systemName; }
......@@ -229,6 +245,9 @@ signals:
void mavlinkMessageReceived(const mavlink_message_t& message);
void homePositionAvailableChanged(bool homePositionAvailable);
void homePositionChanged(const QGeoCoordinate& homePosition);
void armedChanged(bool armed);
void flightModeChanged(const QString& flightMode);
void hilModeChanged(bool hilMode);
/// Used internally to move sendMessage call to main thread
void _sendMessageOnThread(mavlink_message_t message);
......@@ -251,9 +270,7 @@ signals:
void batteryVoltageChanged ();
void batteryPercentChanged ();
void batteryConsumedChanged ();
void systemArmedChanged ();
void heartbeatTimeoutChanged();
void currentModeChanged ();
void currentConfigChanged ();
void systemPixmapChanged ();
void satelliteCountChanged ();
......@@ -282,9 +299,7 @@ private slots:
void _checkUpdate ();
void _updateBatteryRemaining (UASInterface*, double voltage, double, double percent, int);
void _updateBatteryConsumedChanged (UASInterface*, double current_consumed);
void _updateArmingState (bool armed);
void _updateState (UASInterface* system, QString name, QString description);
void _updateMode (int system, QString name, QString description);
void _updateName (const QString& name);
void _setSystemType (UASInterface* uas, unsigned int systemType);
void _heartbeatTimeout (bool timeout, unsigned int ms);
......@@ -301,7 +316,9 @@ private:
void _loadSettings(void);
void _saveSettings(void);
void _startJoystick(bool start);
void _handleHomePosition(mavlink_message_t& message);
void _handleHeartbeat(mavlink_message_t& message);
bool _isAirplane ();
void _addChange (int id);
float _oneDecimal (float value);
......@@ -313,6 +330,7 @@ private:
MAV_AUTOPILOT _firmwareType;
FirmwarePlugin* _firmwarePlugin;
AutoPilotPlugin* _autopilotPlugin;
MAVLinkProtocol* _mavlink;
/// List of all links associated with this vehicle. We keep SharedLinkInterface objects
/// which are QSharedPointer's in order to maintain reference counts across threads.
......@@ -357,9 +375,7 @@ private:
double _batteryVoltage;
double _batteryPercent;
double _batteryConsumed;
bool _systemArmed;
QString _currentState;
QString _currentMode;
QString _systemName;
QString _systemPixmap;
unsigned int _currentHeartbeatTimeout;
......@@ -373,6 +389,10 @@ private:
MissionManager* _missionManager;
QmlObjectListModel _missionItems;
bool _armed; ///< true: vehicle is armed
uint8_t _base_mode; ///< base_mode from HEARTBEAT
uint32_t _custom_mode; ///< custom_mode from HEARTBEAT
static const char* _settingsGroup;
static const char* _joystickModeSettingsKey;
static const char* _joystickEnabledSettingsKey;
......
......@@ -482,9 +482,9 @@ QGCView {
QGCCheckBox {
anchors.verticalCenter: parent.verticalCenter
checked: _activeJoystick.buttonActions[modelData] != -1
checked: _activeJoystick.buttonActions[modelData] != ""
onClicked: _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.currentIndex : -1)
onClicked: _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.textAt(buttonActionCombo.currentIndex) : "")
}
Rectangle {
......@@ -509,9 +509,9 @@ QGCView {
id: buttonActionCombo
width: ScreenTools.defaultFontPixelWidth * 20
model: _activeJoystick.actions
currentIndex: _activeJoystick.buttonActions[modelData]
onActivated: _activeJoystick.setButtonAction(modelData, index)
onActivated: _activeJoystick.setButtonAction(modelData, textAt(index))
Component.onCompleted: currentIndex = find(_activeJoystick.buttonActions[modelData])
}
}
} // Repeater
......
......@@ -63,7 +63,7 @@ Rectangle {
function showFirmwarePanel()
{
if (!ScreenTools.isMobile) {
if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.autopilot.armed) {
if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.armed) {
messagePanelText = armedVehicleText
panelLoader.sourceComponent = messagePanelComponent
} else {
......@@ -74,7 +74,7 @@ Rectangle {
function showJoystickPanel()
{
if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.autopilot.armed) {
if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.armed) {
messagePanelText = armedVehicleText
panelLoader.sourceComponent = messagePanelComponent
} else {
......@@ -89,7 +89,7 @@ Rectangle {
function showVehicleComponentPanel(vehicleComponent)
{
if (multiVehicleManager.activeVehicle.autopilot.armed) {
if (multiVehicleManager.activeVehicle.armed) {
messagePanelText = armedVehicleText
panelLoader.sourceComponent = messagePanelComponent
} else {
......
......@@ -338,7 +338,6 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
break;
default:
qDebug() << "MockLink: Unhandled mavlink message, id:" << msg.msgid;
break;
}
}
......
......@@ -150,13 +150,10 @@ void MavlinkLogTest::_connectLogWorker(bool arm)
QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*)));
QCOMPARE(spyVehicle.wait(5000), true);
UAS* uas = MultiVehicleManager::instance()->activeUas();
QVERIFY(uas);
QDir logSaveDir;
if (arm) {
uas->armSystem();
MultiVehicleManager::instance()->activeVehicle()->setArmed(true);
QTest::qWait(1500); // Wait long enough for heartbeat to come through
// On Disconnect: We should get a getSaveFileName dialog.
......
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......@@ -86,8 +86,6 @@ This file is part of the QGROUNDCONTROL project
/// The key under which the Main Window settings are saved
const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW";
const char* MainWindow::_uasControlDockWidgetName = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET";
const char* MainWindow::_uasListDockWidgetName = "UNMANNED_SYSTEM_LIST_DOCKWIDGET";
const char* MainWindow::_waypointsDockWidgetName = "WAYPOINT_LIST_DOCKWIDGET";
const char* MainWindow::_mavlinkDockWidgetName = "MAVLINK_INSPECTOR_DOCKWIDGET";
const char* MainWindow::_customCommandWidgetName = "CUSTOM_COMMAND_DOCKWIDGET";
......@@ -388,8 +386,6 @@ void MainWindow::_buildCommonWidgets(void)
};
static const struct DockWidgetInfo rgDockWidgetInfo[] = {
{ _uasControlDockWidgetName, "Control", Qt::LeftDockWidgetArea },
{ _uasListDockWidgetName, "Unmanned Systems", Qt::RightDockWidgetArea },
{ _waypointsDockWidgetName, "Mission Plan", Qt::BottomDockWidgetArea },
{ _mavlinkDockWidgetName, "MAVLink Inspector", Qt::RightDockWidgetArea },
{ _customCommandWidgetName, "Custom Command", Qt::RightDockWidgetArea },
......@@ -487,11 +483,7 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName)
QWidget* widget = NULL;
if (widgetName == _uasControlDockWidgetName) {
widget = new UASControlWidget(this);
} else if (widgetName == _uasListDockWidgetName) {
widget = new UASListWidget(this);
} else if (widgetName == _waypointsDockWidgetName) {
if (widgetName == _waypointsDockWidgetName) {
widget = new QGCWaypointListMulti(this);
} else if (widgetName == _mavlinkDockWidgetName) {
widget = new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this);
......@@ -880,7 +872,7 @@ void MainWindow::_loadCurrentViewState(void)
case VIEW_SIMULATION:
_buildSimView();
centerView = _simView;
defaultWidgets = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
defaultWidgets = "WAYPOINT_LIST_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
break;
default:
......
......@@ -41,11 +41,9 @@ This file is part of the QGROUNDCONTROL project
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "UASControlWidget.h"
#include "UASInfoWidget.h"
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
#include "Mouse6dofInput.h"
#endif // QGC_MOUSE_ENABLED_WIN
......
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>uasControl</class>
<widget class="QWidget" name="uasControl">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>200</width>
<height>228</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>150</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>267</width>
<height>16777215</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="toolTip">
<string>Control widget to send basic control actions to the micro air vehicle</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="5,1,40,1,40,40,40,1000" columnstretch="5,20,20,25,5">
<property name="margin">
<number>4</number>
</property>
<item row="0" column="0" rowspan="7">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>31</width>
<height>159</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1" rowspan="2" colspan="3">
<widget class="QLabel" name="controlStatusLabel">
<property name="minimumSize">
<size>
<width>0</width>
<height>10</height>
</size>
</property>
<property name="toolTip">
<string>Currently controlled system</string>
</property>
<property name="statusTip">
<string>Currently controlled system</string>
</property>
<property name="text">
<string>UNCONNECTED</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="margin">
<number>0</number>
</property>
</widget>
</item>
<item row="3" column="1" colspan="3">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>216</width>
<height>17</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="1" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="spacing">
<number>6</number>
</property>
<item>
<widget class="QPushButton" name="liftoffButton">
<property name="minimumSize">
<size>
<width>25</width>
<height>16</height>
</size>
</property>
<property name="toolTip">
<string>Liftoff / Launch</string>
</property>
<property name="statusTip">
<string>Liftoff / Launch</string>
</property>
<property name="text">
<string>Start</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="landButton">
<property name="minimumSize">
<size>
<width>25</width>
<height>16</height>
</size>
</property>
<property name="toolTip">
<string>Fly straight to landing spot</string>
</property>
<property name="statusTip">
<string>Fly straight to landing spot</string>
</property>
<property name="text">
<string>Land</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="shutdownButton">
<property name="minimumSize">
<size>
<width>25</width>
<height>16</height>
</size>
</property>
<property name="toolTip">
<string>Only active on the ground: Poweroff system</string>
</property>
<property name="statusTip">
<string>Only active on the ground: Poweroff system</string>
</property>
<property name="text">
<string>Halt</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="5" column="1" colspan="2">
<widget class="QComboBox" name="modeComboBox">
<property name="minimumSize">
<size>
<width>25</width>
<height>16</height>
</size>
</property>
<property name="toolTip">
<string>Select MAV operation mode</string>
</property>
<property name="statusTip">
<string>Select MAV operation mode</string>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QPushButton" name="setModeButton">
<property name="minimumSize">
<size>
<width>25</width>
<height>16</height>
</size>
</property>
<property name="toolTip">
<string>Transmit and enable mode on MAV</string>
</property>
<property name="statusTip">
<string>Transmit and enable mode on MAV</string>
</property>
<property name="text">
<string>Set</string>
</property>
</widget>
</item>
<item row="6" column="1" colspan="3">
<widget class="QLabel" name="lastActionLabel">
<property name="minimumSize">
<size>
<width>0</width>