Merge branch 'master' of git://github.com/tecnosapiens/qgroundcontrol into mergeRemote

qgroundcontrol.pro

@@ -138,7 +138,9 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCRemoteControlView.ui \
     src/ui/WaypointGlobalView.ui \
     src/ui/SlugsDataSensorView.ui \
-    src/ui/SlugsHilSim.ui
+    src/ui/SlugsHilSim.ui \
+    src/ui/SlugsDataSensorView.ui \
+    src/ui/SlugsPIDControl.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -239,7 +241,8 @@ HEADERS += src/MG.h \
     src/ui/map3D/Imagery.h \
     src/comm/QGCMAVLink.h\
     src/ui/SlugsDataSensorView.h \
-    src/ui/SlugsHilSim.h
+    src/ui/SlugsHilSim.h \
+    src/ui/SlugsPIDControl.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -320,7 +323,8 @@ SOURCES += src/main.cc \
     src/ui/map3D/WebImage.cc \
     src/ui/map3D/Imagery.cc \
     src/ui/SlugsDataSensorView.cc \
-    src/ui/SlugsHilSim.cc
+    src/ui/SlugsHilSim.cc \
+    src/ui/SlugsPIDControl.cpp
 
 RESOURCES = mavground.qrc
 

src/uas/SlugsMAV.cc

@@ -47,7 +47,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                                   cpu_load.ctrlLoad,
                                   cpu_load.batVolt,
                                   0);
-qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CPU_LOAD 170";
+//qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CPU_LOAD 170";
             break;
         }
     case MAVLINK_MSG_ID_AIR_DATA://171
@@ -64,7 +64,7 @@ qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CPU_LOAD 170";
                                   air_data.staticPressure,
                                   air_data.temperature,
                                   time);
-qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_AIR_DATA 171";
+//qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_AIR_DATA 171";
             break;
         }
     case MAVLINK_MSG_ID_SENSOR_BIAS://172
@@ -87,7 +87,7 @@ qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_AIR_DATA 171";
                                      sensor_bias.gyBias,
                                      sensor_bias.gzBias,
                                      0);
-               qDebug()<<"------------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SENSOR_BIAS 172";
+          //     qDebug()<<"------------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SENSOR_BIAS 172";
 
 
             break;
@@ -112,7 +112,7 @@ qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_AIR_DATA 171";
                                      diagnostic.diagSh2,
                                      diagnostic.diagSh3,
                                      0);
-qDebug()<<"------->>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_DIAGNOSTIC 173";
+//qDebug()<<"------->>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_DIAGNOSTIC 173";
             break;
         }
     case MAVLINK_MSG_ID_PILOT_CONSOLE://174
@@ -133,7 +133,7 @@ qDebug()<<"------->>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_DIAGNOSTIC 173";
                                           pilot.dr,
                                           pilot.de,
                                           0);
-                qDebug()<<"---------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PILOT_CONSOLE 174";
+             //   qDebug()<<"---------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PILOT_CONSOLE 174";
 
 
             break;
@@ -166,7 +166,7 @@ qDebug()<<"------->>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_DIAGNOSTIC 173";
                               pwm.aux1,
                               pwm.aux2,
                               0);
-qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175";
+//qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175";
 
             break;
         }
@@ -197,7 +197,7 @@ qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175"
                                      nav.toWP,
                                      time);
 
-            qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SLUGS_NAVIGATION 176";
+           // qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SLUGS_NAVIGATION 176";
 
             break;
         }
@@ -222,7 +222,7 @@ qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175"
                                   dataLog.fl_6,
                                   time);
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO LOG DATA 177";
+             //   qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO LOG DATA 177";
 
 
 
@@ -259,7 +259,7 @@ qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175"
 
 
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO filtering data 178";
+              //  qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO filtering data 178";
 
 
 
@@ -291,52 +291,60 @@ qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175"
 
 
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_GPS_DATE_TIME 179";
+              //  qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_GPS_DATE_TIME 179";
 
 
 
             break;
         }
-    case MAVLINK_MSG_ID_MID_LVL_CMDS://180
+    case MAVLINK_MSG_ID_ACTION_ACK:
         {
+            qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_ACTION_ACK";
+            mavlink_action_ack_t ack;
 
+            mavlink_msg_action_ack_decode(&message,&ack);
+            emit slugsActionAck(uasId,ack.action,ack.result);
+        }
+//    case MAVLINK_MSG_ID_MID_LVL_CMDS://180
+//        {
 
-                qDebug()<<"------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_MID_LVL_CMDS 180";
 
+//             //   qDebug()<<"------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_MID_LVL_CMDS 180";
 
 
-            break;
-        }
-    case MAVLINK_MSG_ID_CTRL_SRFC_PT://181
-        {
 
+//            break;
+//        }
+//    case MAVLINK_MSG_ID_CTRL_SRFC_PT://181
+//        {
 
-                qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CTRL_SRFC_PT 181";
 
+//               // qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CTRL_SRFC_PT 181";
 
 
-            break;
-        }
-    case MAVLINK_MSG_ID_PID://182
-        {
 
+//            break;
+//        }
+//    case MAVLINK_MSG_ID_PID://182
+//        {
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PID 182";
 
+//               // qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PID 182";
 
 
-            break;
-        }
-    case MAVLINK_MSG_ID_SLUGS_ACTION://183
-        {
 
+//            break;
+//        }
+//    case MAVLINK_MSG_ID_SLUGS_ACTION://183
+//        {
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SLUGS_ACTION 183";
 
+//               // qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SLUGS_ACTION 183";
 
 
-            break;
-        }
+
+//            break;
+//        }
 #endif
 
     default:

src/uas/SlugsMAV.h

@@ -135,6 +135,10 @@ signals:
                          uint8_t gpsvisSat,
                          quint64 time);
 
+   void slugsActionAck(int systemId,
+                       uint8_t action,
+                       uint8_t result);
+
 
 
 

src/uas/UASWaypointManager.cc

@@ -437,6 +437,7 @@ void UASWaypointManager::readWaypoints()
 
 void UASWaypointManager::writeWaypoints()
 {
+    qDebug() << "+++++++++++++++++++>>>> Entro Funcion Write WP";
     if (current_state == WP_IDLE)
     {
         if (waypoints.count() > 0)
@@ -541,6 +542,7 @@ void UASWaypointManager::sendWaypointCount()
     wpc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
     wpc.count = current_count;
 
+    qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
     emit updateStatusString(QString("start transmitting waypoints..."));
 
     mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);

src/ui/MainWindow.cc

@@ -181,6 +181,9 @@ void MainWindow::buildWidgets()
     slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
     slugsDataWidget->setWidget( new SlugsDataSensorView(this));
 
+    slugsPIDControlWidget = new QDockWidget(tr("PID Control"), this);
+    slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
+
     slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
     slugsHilSimWidget->setWidget( new SlugsHilSim(this));
 
@@ -225,6 +228,7 @@ void MainWindow::connectWidgets()
       connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), dynamic_cast<SlugsHilSim*>(slugsHilSimWidget->widget()), SLOT(activeUasSet(UASInterface*)) );
     }
 
+
 }
 
 void MainWindow::arrangeCenterStack()
@@ -917,6 +921,13 @@ void MainWindow::loadGlobalOperatorView()
         slugsDataWidget->show();
     }
 
+    // Slugs Data View
+    if (slugsPIDControlWidget)
+    {
+        addDockWidget(Qt::LeftDockWidgetArea, slugsPIDControlWidget);
+        slugsPIDControlWidget->show();
+    }
+
 
 
 //    // UAS CONTROL

src/ui/MainWindow.h

@@ -66,9 +66,13 @@ This file is part of the QGROUNDCONTROL project
 #include "QMap3DWidget.h"
 #include "SlugsDataSensorView.h"
 #include "LogCompressor.h"
+
+#include "SlugsPIDControl.h"
+
 #include "slugshilsim.h"
 
 
+
 /**
  * @brief Main Application Window
  *
@@ -181,8 +185,10 @@ protected:
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
     QPointer<QDockWidget> slugsDataWidget;
+    QPointer<QDockWidget> slugsPIDControlWidget;
     QPointer<QDockWidget> slugsHilSimWidget;
 
+
     // Popup widgets
     JoystickWidget* joystickWidget;
 

src/ui/SlugsDataSensorView.cc

@@ -432,7 +432,6 @@ void SlugsDataSensorView::slugsDataLogChanged(int systemId,
                                               double logfl_6,
                                               quint64 time)
 {
-    qDebug()<<"----------------------------------------------------->>>>>>>>>>>>>>> ACTUALIZANDO LOG DATA";
      Q_UNUSED(systemId);
     Logfl_1 = logfl_1;
     Logfl_2 = logfl_2;

src/ui/SlugsPIDControl.cpp

+#include "SlugsPIDControl.h"
+#include "ui_SlugsPIDControl.h"
+
+
+#include <QPalette>
+#include<QColor>
+#include <QDebug>
+#include <UASManager.h>
+#include <UAS.h>
+#include "LinkManager.h"
+
+SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::SlugsPIDControl)
+{
+    ui->setupUi(this);
+
+   connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUasSet(UASInterface*)));
+
+    activeUAS = NULL;
+
+    setRedColorStyle();
+    setGreenColorStyle();
+
+//    connect_set_pushButtons();
+//    connect_AirSpeed_LineEdit();
+//    connect_PitchFollowei_LineEdit();
+//    connect_RollControl_LineEdit();
+//    connect_HeigthError_LineEdit();
+//    connect_YawDamper_LineEdit();
+//    connect_Pitch2dT_LineEdit();
+
+
+}
+
+/**
+ * @brief Called when the a new UAS is set to active.
+ *
+ * Called when the a new UAS is set to active.
+ *
+ * @param uas The new active UAS
+ */
+void SlugsPIDControl::activeUasSet(UASInterface* uas)
+{
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
+
+    if (slugsMav != NULL)
+    {
+        connect(slugsMav,SIGNAL(slugsActionAck(int,uint8_t,uint8_t)),this,SLOT(recibeMensaje(int,uint8_t,uint8_t)));
+    }
+
+    // Set this UAS as active if it is the first one
+        if(activeUAS == 0)
+        {
+            activeUAS = uas;
+            systemId = activeUAS->getUASID();
+            connect_editLinesPDIvalues();
+
+            //qDebug()<<"------------------->Active UAS ID: "<<uas->getUASID();
+        }
+
+}
+
+/**
+ * @brief Connect Edition Lines for PID Values
+ *
+ * @param
+ */
+void SlugsPIDControl::connect_editLinesPDIvalues()
+{
+    if(activeUAS)
+    {
+       connect_set_pushButtons();
+       connect_AirSpeed_LineEdit();
+       connect_PitchFollowei_LineEdit();
+       connect_RollControl_LineEdit();
+       connect_HeigthError_LineEdit();
+       connect_YawDamper_LineEdit();
+       connect_Pitch2dT_LineEdit();
+    }
+}
+
+SlugsPIDControl::~SlugsPIDControl()
+{
+    delete ui;
+}
+
+/**
+ *@brief Set the background color RED style for the GroupBox PID when change lineEdit information
+ *
+ */
+void SlugsPIDControl::setRedColorStyle()
+{
+    // GroupBox Color
+    QColor groupColor = QColor(231,72,28);
+
+    QString borderColor = "#FA4A4F";
+
+    groupColor = groupColor.darker(475);
+
+
+    REDcolorStyle = REDcolorStyle.sprintf("QGroupBox {background-color: #%02X%02X%02X; border: 5px solid %s; }",
+                                    groupColor.red(), groupColor.green(), groupColor.blue(), borderColor.toStdString().c_str());
+
+}
+
+/**
+ *@brief Set the background color GREEN style for the GroupBox PID when change lineEdit information
+ *
+ */
+void SlugsPIDControl::setGreenColorStyle()
+{
+    // create Green color style
+    QColor groupColor = QColor(30,124,16);
+    QString borderColor = "#24AC23";
+
+    groupColor = groupColor.darker(475);
+
+
+    GREENcolorStyle = GREENcolorStyle.sprintf("QGroupBox {background-color: #%02X%02X%02X; border: 5px solid %s; }",
+                                    groupColor.red(), groupColor.green(), groupColor.blue(), borderColor.toStdString().c_str());
+
+}
+
+/**
+ *@brief Connection Signal and Slot of the set buttons on the widget
+ */
+void SlugsPIDControl::connect_set_pushButtons()
+{
+    //ToDo connect buttons set and get. Before create the slots
+   connect(ui->dT_PID_set_pushButton, SIGNAL(clicked()),this,SLOT(changeColor_GREEN_AirSpeed_groupBox()));
+   connect(ui->dE_PID_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_PitchFollowei_groupBox()));
+   connect(ui->dA_PID_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_RollControl_groupBox()));
+   connect(ui->HELPComm_PDI_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_HeigthError_groupBox()));
+   connect(ui->dR_PDI_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_YawDamper_groupBox()));
+   connect(ui->Pitch2dT_PDI_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_Pitch2dT_groupBox()));
+
+
+}
+
+void SlugsPIDControl::connect_AirSpeed_LineEdit()
+{
+    connect(ui->dT_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_AirSpeed_groupBox(QString)));
+    connect(ui->dT_I_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_AirSpeed_groupBox(QString)));
+    connect(ui->dT_D_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_AirSpeed_groupBox(QString)));
+}
+
+void SlugsPIDControl::changeColor_RED_AirSpeed_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->AirSpeedHold_groupBox->setStyleSheet(REDcolorStyle);
+
+}
+
+void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
+{
+    //create the packet
+    pidMessage.target = activeUAS->getUASID();
+    pidMessage.idx = 0;
+    pidMessage.pVal = ui->dT_P_set->text().toFloat();
+    pidMessage.iVal = ui->dT_I_set->text().toFloat();
+    pidMessage.dVal = ui->dT_D_set->text().toFloat();
+
+    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getActiveUAS());
+
+    mavlink_message_t msg;
+
+    mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
+    uas->sendMessage(msg);
+
+
+
+    ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+
+void SlugsPIDControl::connect_PitchFollowei_LineEdit()
+{
+    connect(ui->dE_P_set, SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_PitchFollowei_groupBox(QString)));
+    connect(ui->dE_I_set, SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_PitchFollowei_groupBox(QString)));
+    connect(ui->dE_D_set, SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_PitchFollowei_groupBox(QString)));
+}
+
+void SlugsPIDControl::changeColor_RED_PitchFollowei_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->PitchFlowei_groupBox->setStyleSheet(REDcolorStyle);
+
+}
+
+void SlugsPIDControl::changeColor_GREEN_PitchFollowei_groupBox()
+{
+    ui->PitchFlowei_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+// Functions for Roll Control GroupBox
+/**
+     * @brief Change color style to red when PID values of Roll Control are edited
+     *
+     *
+     * @param
+     */
+void SlugsPIDControl::changeColor_RED_RollControl_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->RollControl_groupBox->setStyleSheet(REDcolorStyle);
+}
+
+/**
+         * @brief Change color style to green when PID values of Roll Control are send to UAS
+         *
+         * @param
+         */
+void SlugsPIDControl::changeColor_GREEN_RollControl_groupBox()
+{
+    ui->RollControl_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+/**
+         * @brief Connects the SIGNALS from the editline to SLOT RollControl_groupBox
+         *
+         * @param
+         */
+void SlugsPIDControl::connect_RollControl_LineEdit()
+{
+    connect(ui->dA_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_RollControl_groupBox(QString)));
+    connect(ui->dA_I_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_RollControl_groupBox(QString)));
+    connect(ui->dA_D_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_RollControl_groupBox(QString)));
+}
+
+
+// Functions for Heigth Error GroupBox
+/**
+     * @brief Change color style to red when PID values of Heigth Error are edited
+     *
+     *
+     * @param
+     */
+void SlugsPIDControl::changeColor_RED_HeigthError_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->HeightErrorLoPitch_groupBox->setStyleSheet(REDcolorStyle);
+}
+
+/**
+         * @brief Change color style to green when PID values of Heigth Error are send to UAS
+         *
+         * @param
+         */
+void SlugsPIDControl::changeColor_GREEN_HeigthError_groupBox()
+{
+    ui->HeightErrorLoPitch_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+/**
+         * @brief Connects the SIGNALS from the editline to SLOT HeigthError_groupBox
+         *
+         * @param
+         */
+void SlugsPIDControl::connect_HeigthError_LineEdit()
+{
+    connect(ui->HELPComm_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_HeigthError_groupBox(QString)));
+    connect(ui->HELPComm_I_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_HeigthError_groupBox(QString)));
+    connect(ui->HELPComm_FF_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_HeigthError_groupBox(QString)));
+}
+
+
+// Functions for Yaw Damper GroupBox
+/**
+     * @brief Change color style to red when PID values of Yaw Damper are edited
+     *
+     *
+     * @param
+     */
+void SlugsPIDControl::changeColor_RED_YawDamper_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->YawDamper_groupBox->setStyleSheet(REDcolorStyle);
+}
+
+/**
+         * @brief Change color style to green when PID values of Yaw Damper are send to UAS
+         *
+         * @param
+         */
+void SlugsPIDControl::changeColor_GREEN_YawDamper_groupBox()
+{
+    ui->YawDamper_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+/**
+         * @brief Connects the SIGNALS from the editline to SLOT YawDamper_groupBox
+         *
+         * @param
+         */
+void SlugsPIDControl::connect_YawDamper_LineEdit()
+{
+    connect(ui->dR_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_YawDamper_groupBox(QString)));
+    connect(ui->dR_I_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_YawDamper_groupBox(QString)));
+    connect(ui->dR_D_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_YawDamper_groupBox(QString)));
+
+
+}
+
+// Functions for Pitch to dT GroupBox
+/**
+     * @brief Change color style to red when PID values of Pitch to dT are edited
+     *
+     *
+     * @param
+     */
+void SlugsPIDControl::changeColor_RED_Pitch2dT_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->Pitch2dTFFterm_groupBox->setStyleSheet(REDcolorStyle);
+}
+
+/**
+         * @brief Change color style to green when PID values of Pitch to dT are send to UAS
+         *
+         * @param
+         */
+void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
+{
+    ui->Pitch2dTFFterm_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+/**
+         * @brief Connects the SIGNALS from the editline to SLOT Pitch2dT_groupBox
+         *
+         * @param
+         */
+void SlugsPIDControl::connect_Pitch2dT_LineEdit()
+{
+    connect(ui->P2dT_FF_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_Pitch2dT_groupBox(QString)));
+}
+
+void SlugsPIDControl::recibeMensaje(int systemId, uint8_t action, uint8_t result)
+{
+    ui->recepcion_label->setText(QString::number(action));
+}

src/ui/SlugsPIDControl.h

+#ifndef SLUGSPIDCONTROL_H
+#define SLUGSPIDCONTROL_H
+
+#include <QWidget>
+#include<QGroupBox>
+#include "UASInterface.h"
+#include "QGCMAVLink.h"
+#include "SlugsMAV.h"
+
+
+namespace Ui {
+    class SlugsPIDControl;
+}
+
+class SlugsPIDControl : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit SlugsPIDControl(QWidget *parent = 0);
+    ~SlugsPIDControl();
+
+public slots:
+
+    /**
+     * @brief Called when the a new UAS is set to active.
+     *
+     * Called when the a new UAS is set to active.
+     *
+     * @param uas The new active UAS
+     */
+    void activeUasSet(UASInterface* uas);
+
+    /**
+     */
+    void setRedColorStyle();
+    /**
+     * @brief Set color StyleSheet GREEN
+     *
+     * @param
+     */
+    void setGreenColorStyle();
+
+    /**
+     * @brief Connect Set pushButtons to change the color GroupBox
+     *
+     * @param
+     */
+    void connect_set_pushButtons();
+
+    /**
+     * @brief Connect Edition Lines for PID Values
+     *
+     * @param
+     */
+    void connect_editLinesPDIvalues();
+
+// Fuctions for Air Speed GroupBox
+    /**
+     * @brief Change color style to red when PID values of Air Speed are edited
+     *
+     *
+     * @param
+     */
+    void changeColor_RED_AirSpeed_groupBox(QString text);
+    /**
+     * @brief Change color style to green when PID values of Air Speed are send to UAS
+     *
+     * @param
+     */
+    void changeColor_GREEN_AirSpeed_groupBox();
+    /**
+     * @brief Connects the SIGNALS from the editline to SLOT changeColor_RED_AirSpeed_groupBox()
+     *
+     * @param
+     */
+    void connect_AirSpeed_LineEdit();
+
+// Functions for Pitch Followei GroupBox
+    /**
+     * @brief Change color style to red when PID values of Pitch Followei are edited
+     *
+     *
+     * @param
+     */
+     void changeColor_RED_PitchFollowei_groupBox(QString text);
+     /**
+         * @brief Change color style to green when PID values of Pitch Followei are send to UAS
+         *
+         * @param
+         */
+     void changeColor_GREEN_PitchFollowei_groupBox();
+     /**
+         * @brief Connects the SIGNALS from the editline to SLOT PitchFlowei_groupBox
+         *
+         * @param
+         */
+     void connect_PitchFollowei_LineEdit();
+
+     // Functions for Roll Control GroupBox
+     /**
+          * @brief Change color style to red when PID values of Roll Control are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_RollControl_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Roll Control are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_RollControl_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT RollControl_groupBox
+              *
+              * @param
+              */
+     void connect_RollControl_LineEdit();
+
+     // Functions for Heigth Error GroupBox
+     /**
+          * @brief Change color style to red when PID values of Heigth Error are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_HeigthError_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Heigth Error are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_HeigthError_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT HeigthError_groupBox
+              *
+              * @param
+              */
+     void connect_HeigthError_LineEdit();
+
+     // Functions for Yaw Damper GroupBox
+     /**
+          * @brief Change color style to red when PID values of Yaw Damper are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_YawDamper_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Yaw Damper are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_YawDamper_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT YawDamper_groupBox
+              *
+              * @param
+              */
+     void connect_YawDamper_LineEdit();
+
+     // Functions for Pitch to dT GroupBox
+     /**
+          * @brief Change color style to red when PID values of Pitch to dT are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_Pitch2dT_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Pitch to dT are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_Pitch2dT_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT Pitch2dT_groupBox
+              *
+              * @param
+              */
+     void connect_Pitch2dT_LineEdit();
+
+
+     //Create, send and get Messages PID
+    // void createMessagePID();
+
+     void recibeMensaje(int systemId, uint8_t action, uint8_t result);
+
+
+private:
+    Ui::SlugsPIDControl *ui;
+
+     UASInterface* activeUAS;
+     int systemId;
+
+    bool change_dT;
+
+
+    //Color Styles
+    QString REDcolorStyle;
+    QString GREENcolorStyle;
+    QString ORIGINcolorStyle;
+
+    //SlugsMav Message
+    mavlink_pid_t pidMessage;
+};
+
+#endif // SLUGSPIDCONTROL_H

src/ui/SlugsPIDControl.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SlugsPIDControl</class>
+ <widget class="QWidget" name="SlugsPIDControl">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>429</width>
+    <height>504</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="margin">
+    <number>2</number>
+   </property>
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <widget class="QGroupBox" name="AirSpeedHold_groupBox">
+       <property name="title">
+        <string>Air Speed Hold (dT)</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_4">
+        <item>
+         <layout class="QGridLayout" name="gridLayout_7">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_10">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>P</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_11">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>I</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_12">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>D</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLineEdit" name="dT_P_set">
+            <property name="text">
+             <string>dT_P_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLineEdit" name="dT_P_get">
+            <property name="text">
+             <string>dT_P_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLineEdit" name="dT_I_set">
+            <property name="text">
+             <string>dT_I_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLineEdit" name="dT_I_get">
+            <property name="text">
+             <string>dT_I_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QLineEdit" name="dT_D_set">
+            <property name="text">
+             <string>dT_D_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLineEdit" name="dT_D_get">
+            <property name="text">
+             <string>dT_D_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="QLabel" name="recepcion_label">
+          <property name="text">
+           <string>Recepcion</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="verticalSpacer_5">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>10</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout_8">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="dT_PID_set_pushButton">
+            <property name="text">
+             <string>SET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="dT_PID_get_pushButton">
+            <property name="text">
+             <string>GET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <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>
+         </layout>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <spacer name="verticalSpacer_9">
+       <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>
+      <widget class="QGroupBox" name="PitchFlowei_groupBox">
+       <property name="title">
+        <string>Pitch Followei (dE)</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_3">
+        <item>
+         <layout class="QGridLayout" name="gridLayout_5">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_7">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>P</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_8">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>I</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_9">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>D</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLineEdit" name="dE_P_set">
+            <property name="text">
+             <string>dE_P_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLineEdit" name="dE_P_get">
+            <property name="text">
+             <string>dE_P_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLineEdit" name="dE_I_set">
+            <property name="text">
+             <string>dE_I_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLineEdit" name="dE_I_get">
+            <property name="text">
+             <string>dE_I_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QLineEdit" name="dE_D_set">
+            <property name="text">
+             <string>dE_D_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLineEdit" name="dE_D_get">
+            <property name="text">
+             <string>dE_D_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="verticalSpacer_4">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>10</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout_6">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="dE_PID_set_pushButton">
+            <property name="text">
+             <string>SET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="dE_PID_get_pushButton">
+            <property name="text">
+             <string>GET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <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>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <spacer name="verticalSpacer_10">
+       <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>
+      <widget class="QGroupBox" name="RollControl_groupBox">
+       <property name="title">
+        <string>Roll Control (dA)</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_5">
+        <item>
+         <layout class="QGridLayout" name="gridLayout_9">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_13">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>P</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_14">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>I</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_15">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>D</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLineEdit" name="dA_P_set">
+            <property name="text">
+             <string>dA_P_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLineEdit" name="dA_P_get">
+            <property name="text">
+             <string>dA_P_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLineEdit" name="dA_I_set">
+            <property name="text">
+             <string>dA_I_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLineEdit" name="dA_I_get">
+            <property name="text">
+             <string>dA_I_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QLineEdit" name="dA_D_set">
+            <property name="text">
+             <string>dA_D_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLineEdit" name="dA_D_get">
+            <property name="text">
+             <string>dA_D_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="verticalSpacer_6">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>10</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout_10">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="dA_PID_set_pushButton">
+            <property name="text">
+             <string>SET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="dA_PID_get_pushButton">
+            <property name="text">
+             <string>GET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <spacer name="horizontalSpacer_5">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout_6">
+     <item>
+      <widget class="QGroupBox" name="HeightErrorLoPitch_groupBox">
+       <property name="title">
+        <string>Heigth Error lo Pitch Comm</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <layout class="QGridLayout" name="gridLayout_11">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_16">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>P</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_17">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>I</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLineEdit" name="HELPComm_P_set">
+            <property name="text">
+             <string>HELPComm_P_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLineEdit" name="HELPComm_P_get">
+            <property name="text">
+             <string>HELPComm_P_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLineEdit" name="HELPComm_I_set">
+            <property name="text">
+             <string>HELPComm_I_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLineEdit" name="HELPComm_I_get">
+            <property name="text">
+             <string>HELPComm_I_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="verticalSpacer">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>10</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="Line" name="line">
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="frameShadow">
+           <enum>QFrame::Sunken</enum>
+          </property>
+          <property name="lineWidth">
+           <number>5</number>
+          </property>
+          <property name="midLineWidth">
+           <number>1</number>
+          </property>
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="verticalSpacer_2">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>10</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_18">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>FF</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLineEdit" name="HELPComm_FF_set">
+            <property name="text">
+             <string>HELPComm_FF_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLineEdit" name="HELPComm_FF_get">
+            <property name="text">
+             <string>HELPComm_FF_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="verticalSpacer_3">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>10</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout_12">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="HELPComm_PDI_set_pushButton">
+            <property name="text">
+             <string>SET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="HELPComm_PDI_get_pushButton">
+            <property name="text">
+             <string>GET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <spacer name="horizontalSpacer_6">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <spacer name="verticalSpacer_11">
+       <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>
+      <widget class="QGroupBox" name="YawDamper_groupBox">
+       <property name="title">
+        <string>Yaw Damper (dR)</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_7">
+        <item>
+         <layout class="QGridLayout" name="gridLayout_13">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_19">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>P</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_20">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>I</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_21">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>D</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLineEdit" name="dR_P_set">
+            <property name="text">
+             <string>dR_P_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLineEdit" name="dR_P_get">
+            <property name="text">
+             <string>dR_P_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLineEdit" name="dR_I_set">
+            <property name="text">
+             <string>dR_I_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLineEdit" name="dR_I_get">
+            <property name="text">
+             <string>dR_I_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QLineEdit" name="dR_D_set">
+            <property name="text">
+             <string>dR_D_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLineEdit" name="dR_D_get">
+            <property name="text">
+             <string>dR_D_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="verticalSpacer_8">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>10</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout_14">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="dR_PDI_set_pushButton">
+            <property name="text">
+             <string>SET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="dR_PDI_get_pushButton">
+            <property name="text">
+             <string>GET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <spacer name="horizontalSpacer_7">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <spacer name="verticalSpacer_12">
+       <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>
+      <widget class="QGroupBox" name="Pitch2dTFFterm_groupBox">
+       <property name="title">
+        <string>Pitch to dT FF term</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_8">
+        <item>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_25">
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>FF</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLineEdit" name="P2dT_FF_set">
+            <property name="text">
+             <string>P2dT_FF_set</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLineEdit" name="P2dT_FF_get">
+            <property name="text">
+             <string>P2dT_FF_get</string>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout_16">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="Pitch2dT_PDI_set_pushButton">
+            <property name="text">
+             <string>SET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="Pitch2dT_PDI_get_pushButton">
+            <property name="text">
+             <string>GET</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <spacer name="horizontalSpacer_8">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <spacer name="verticalSpacer_7">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>40</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/slugshilsim.cc

@@ -200,6 +200,11 @@ float SlugsHilSim::getFloatFromDatagram (const QByteArray* datagram, unsigned ch
   tmpF2C.chData[2] = datagram->at((*i)++);
   tmpF2C.chData[3] = datagram->at((*i)++);
 
+
+//  if (uas != NULL) {
+//    //activeUas = uas;
+//  }
+
   return tmpF2C.flData;
 }
 
@@ -210,6 +215,7 @@ uint16_t SlugsHilSim::getUint16FromDatagram (const QByteArray* datagram, unsigne
   tmpU2C.chData[1] = datagram->at((*i)++);
 
   return tmpU2C.uiData;
+
 }
 
 void SlugsHilSim::linkSelected(int cbIndex){

src/ui/slugshilsim.h

@@ -105,6 +105,10 @@ public slots:
      */
     void linkSelected (int cbIndex);
 
+public slots:
+
+
+
 private:
 
 	typedef union _tFloatToChar {