not working send messages in SlugsPIDControl

src/uas/SlugsMAV.cc

@@ -39,6 +39,7 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
     memset(&mlActionAck,0, sizeof(mavlink_action_ack_t));
     memset(&mlAction ,0, sizeof(mavlink_slugs_action_t));
 
+
     updateRoundRobin = 0;
 
 
@@ -154,6 +155,12 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
 
       case MAVLINK_MSG_ID_PID:              //182
+          memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
+          mavlink_msg_pid_decode(&message, &mlSinglePid);
+          qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
+
+          emit slugsPidValues(uasId, mlSinglePid);
+
 
       break;
 
@@ -197,7 +204,7 @@ void SlugsMAV::emitSignals (void){
     case 5:
       emit slugsFilteredData(uasId,mlFilteredData);
       emit slugsGPSDateTime(uasId, mlGpsDateTime);
-            break;
+    break;
 
     case 6:
       emit slugsActionAck(uasId,mlActionAck);
@@ -241,4 +248,11 @@ void SlugsMAV::emitGpsSignals (void){
     }
 }
 
+void SlugsMAV::emitPidSignal()
+{
+     qDebug() << "\nSLUGS RECEIVED PID Message";
+    emit slugsPidValues(uasId, mlSinglePid);
+
+}
+
 #endif // MAVLINK_ENABLED_SLUGS

src/uas/SlugsMAV.h

@@ -62,6 +62,8 @@ signals:
     void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
     void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
 
+    void slugsPidValues(int systemId, const mavlink_pid_t& pidValues);
+
     void slugsBootMsg(int uasId, mavlink_boot_t& boot);
     void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
 
@@ -96,7 +98,7 @@ protected:
    mavlink_set_mode_t 			mlApMode;
    mavlink_pwm_commands_t		mlPwmCommands;
    mavlink_pid_values_t			mlPidValues;
-   mavlink_pid_t				mlSinglePid;
+   mavlink_pid_t			mlSinglePid;
 
    mavlink_slugs_navigation_t	mlNavigation;
    mavlink_data_log_t			mlDataLog;
@@ -106,11 +108,14 @@ protected:
    mavlink_slugs_action_t		mlAction;
 
 
+
+
    // Standart messages MAVLINK used by SLUGS
 private:
 
 
    void emitGpsSignals (void);
+   void emitPidSignal(void);
 
    int uasId;
 

src/ui/MainWindow.cc

@@ -943,7 +943,7 @@ void MainWindow::loadGlobalOperatorView()
 
     if (slugsCamControlWidget)
     {
-        addDockWidget(Qt::RightDockWidgetArea, slugsCamControlWidget);
+        addDockWidget(Qt::BottomDockWidgetArea, slugsCamControlWidget);
         slugsCamControlWidget->show();
     }
 

src/ui/SlugsPIDControl.cpp

@@ -22,15 +22,6 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
     setRedColorStyle();
     setGreenColorStyle();
 
-//    connect_set_pushButtons();
-//    connect_AirSpeed_LineEdit();
-//    connect_PitchFollowei_LineEdit();
-//    connect_RollControl_LineEdit();
-//    connect_HeigthError_LineEdit();
-//    connect_YawDamper_LineEdit();
-//    connect_Pitch2dT_LineEdit();
-
-
 }
 
 /**
@@ -48,6 +39,7 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
     if (slugsMav != NULL)
     {
         connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
+        connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) );
     }
 
 #endif // MAVLINK_ENABLED_SLUG
@@ -73,6 +65,7 @@ void SlugsPIDControl::connect_editLinesPDIvalues()
     if(activeUAS)
     {
        connect_set_pushButtons();
+       connect_get_pushButtons();
        connect_AirSpeed_LineEdit();
        connect_PitchFollowei_LineEdit();
        connect_RollControl_LineEdit();
@@ -140,6 +133,21 @@ void SlugsPIDControl::connect_set_pushButtons()
 
 }
 
+/**
+ *@brief Connection Signal and Slot of the set buttons on the widget
+ */
+void SlugsPIDControl::connect_get_pushButtons()
+{
+   connect(ui->dT_PID_get_pushButton, SIGNAL(clicked()),this,SLOT(get_AirSpeed_PID()));
+   connect(ui->dE_PID_get_pushButton,SIGNAL(clicked()),this,SLOT(get_PitchFollowei_PID()));
+   connect(ui->dR_PDI_get_pushButton,SIGNAL(clicked()),this,SLOT(get_YawDamper_PID()));
+   connect(ui->dA_PID_get_pushButton,SIGNAL(clicked()),this,SLOT(get_RollControl_PID()));
+   connect(ui->Pitch2dT_PDI_get_pushButton,SIGNAL(clicked()),this,SLOT(get_Pitch2dT_PID()));
+   connect(ui->HELPComm_PDI_get_pushButton,SIGNAL(clicked()),this,SLOT(get_HeigthError_PID()));
+
+}
+
+// Functions for Air Speed GroupBox
 void SlugsPIDControl::connect_AirSpeed_LineEdit()
 {
     connect(ui->dT_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_AirSpeed_groupBox(QString)));
@@ -178,7 +186,16 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
   }
 }
 
+void SlugsPIDControl::get_AirSpeed_PID()
+{
+     qDebug() << "\nSend Message = Air Speed ";
+   sendMessagePIDStatus(0);
+
+}
+
+
 
+// Functions for PitchFollowei GroupBox
 void SlugsPIDControl::connect_PitchFollowei_LineEdit()
 {
     connect(ui->dE_P_set, SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_PitchFollowei_groupBox(QString)));
@@ -195,9 +212,34 @@ void SlugsPIDControl::changeColor_RED_PitchFollowei_groupBox(QString text)
 
 void SlugsPIDControl::changeColor_GREEN_PitchFollowei_groupBox()
 {
-    ui->PitchFlowei_groupBox->setStyleSheet(GREENcolorStyle);
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(activeUAS);
+
+    if (slugsMav != NULL)
+    {
+      //create the packet
+      pidMessage.target = activeUAS->getUASID();
+      pidMessage.idx = 2;
+      pidMessage.pVal = ui->dE_P_set->text().toFloat();
+      pidMessage.iVal = ui->dE_I_set->text().toFloat();
+      pidMessage.dVal = ui->dE_D_set->text().toFloat();
+
+      mavlink_message_t msg;
+
+      mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
+      slugsMav->sendMessage(msg);
+
+      ui->PitchFlowei_groupBox->setStyleSheet(GREENcolorStyle);
+  }
 }
 
+void SlugsPIDControl::get_PitchFollowei_PID()
+{
+    qDebug() << "\nSend Message = Pitch Followei ";
+  sendMessagePIDStatus(2);
+
+}
+
+
 // Functions for Roll Control GroupBox
 /**
      * @brief Change color style to red when PID values of Roll Control are edited
@@ -218,7 +260,24 @@ void SlugsPIDControl::changeColor_RED_RollControl_groupBox(QString text)
          */
 void SlugsPIDControl::changeColor_GREEN_RollControl_groupBox()
 {
-    ui->RollControl_groupBox->setStyleSheet(GREENcolorStyle);
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(activeUAS);
+
+    if (slugsMav != NULL)
+    {
+          //create the packet
+          pidMessage.target = activeUAS->getUASID();
+          pidMessage.idx = 4;
+          pidMessage.pVal = ui->dA_P_set->text().toFloat();
+          pidMessage.iVal = ui->dA_I_set->text().toFloat();
+          pidMessage.dVal = ui->dA_D_set->text().toFloat();
+
+          mavlink_message_t msg;
+
+          mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
+          slugsMav->sendMessage(msg);
+
+        ui->RollControl_groupBox->setStyleSheet(GREENcolorStyle);
+    }
 }
 
 /**
@@ -233,6 +292,13 @@ void SlugsPIDControl::connect_RollControl_LineEdit()
     connect(ui->dA_D_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_RollControl_groupBox(QString)));
 }
 
+void SlugsPIDControl::get_RollControl_PID()
+{
+    qDebug() << "\nSend Message = Roll Control ";
+  sendMessagePIDStatus(4);
+}
+
+
 
 // Functions for Heigth Error GroupBox
 /**
@@ -254,7 +320,24 @@ void SlugsPIDControl::changeColor_RED_HeigthError_groupBox(QString text)
          */
 void SlugsPIDControl::changeColor_GREEN_HeigthError_groupBox()
 {
-    ui->HeightErrorLoPitch_groupBox->setStyleSheet(GREENcolorStyle);
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(activeUAS);
+
+    if (slugsMav != NULL)
+    {
+          //create the packet
+          pidMessage.target = activeUAS->getUASID();
+          pidMessage.idx = 1;
+          pidMessage.pVal = ui->HELPComm_P_set->text().toFloat();
+          pidMessage.iVal = ui->HELPComm_I_set->text().toFloat();
+          pidMessage.dVal = ui->HELPComm_FF_set->text().toFloat();
+
+          mavlink_message_t msg;
+
+          mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
+          slugsMav->sendMessage(msg);
+
+        ui->HeightErrorLoPitch_groupBox->setStyleSheet(GREENcolorStyle);
+    }
 }
 
 /**
@@ -269,6 +352,12 @@ void SlugsPIDControl::connect_HeigthError_LineEdit()
     connect(ui->HELPComm_FF_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_HeigthError_groupBox(QString)));
 }
 
+void SlugsPIDControl::get_HeigthError_PID()
+{
+    qDebug() << "\nSend Message = Heigth Error ";
+  sendMessagePIDStatus(1);
+}
+
 
 // Functions for Yaw Damper GroupBox
 /**
@@ -290,7 +379,24 @@ void SlugsPIDControl::changeColor_RED_YawDamper_groupBox(QString text)
          */
 void SlugsPIDControl::changeColor_GREEN_YawDamper_groupBox()
 {
-    ui->YawDamper_groupBox->setStyleSheet(GREENcolorStyle);
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(activeUAS);
+
+    if (slugsMav != NULL)
+    {
+          //create the packet
+          pidMessage.target = activeUAS->getUASID();
+          pidMessage.idx = 3;
+          pidMessage.pVal = ui->dR_P_set->text().toFloat();
+          pidMessage.iVal = ui->dR_I_set->text().toFloat();
+          pidMessage.dVal = ui->dR_D_set->text().toFloat();
+
+          mavlink_message_t msg;
+
+          mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
+          slugsMav->sendMessage(msg);
+
+        ui->YawDamper_groupBox->setStyleSheet(GREENcolorStyle);
+    }
 }
 
 /**
@@ -307,6 +413,13 @@ void SlugsPIDControl::connect_YawDamper_LineEdit()
 
 }
 
+void SlugsPIDControl::get_YawDamper_PID()
+{
+    qDebug() << "\nSend Message = Yaw Damper ";
+  sendMessagePIDStatus(3);
+}
+
+
 // Functions for Pitch to dT GroupBox
 /**
      * @brief Change color style to red when PID values of Pitch to dT are edited
@@ -327,7 +440,23 @@ void SlugsPIDControl::changeColor_RED_Pitch2dT_groupBox(QString text)
          */
 void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
 {
-    ui->Pitch2dTFFterm_groupBox->setStyleSheet(GREENcolorStyle);
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(activeUAS);
+
+    if (slugsMav != NULL)
+    {
+          //create the packet
+          pidMessage.target = activeUAS->getUASID();
+          pidMessage.idx = 8;
+          pidMessage.pVal = ui->dR_P_set->text().toFloat();
+          pidMessage.iVal = ui->dR_I_set->text().toFloat();
+          pidMessage.dVal = ui->dR_D_set->text().toFloat();
+
+          mavlink_message_t msg;
+
+          mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
+          slugsMav->sendMessage(msg);
+        ui->Pitch2dTFFterm_groupBox->setStyleSheet(GREENcolorStyle);
+    }
 }
 
 /**
@@ -340,11 +469,146 @@ void SlugsPIDControl::connect_Pitch2dT_LineEdit()
     connect(ui->P2dT_FF_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_Pitch2dT_groupBox(QString)));
 }
 
+void SlugsPIDControl::get_Pitch2dT_PID()
+{
+    qDebug() << "\nSend Message = Pitch to dT ";
+  sendMessagePIDStatus(8);
+}
+
 #ifdef MAVLINK_ENABLED_SLUGS
 
 void SlugsPIDControl::recibeMensaje(int systemId, const mavlink_action_ack_t& action)
 {
-    ui->recepcion_label->setText(QString::number(action.action));
+    ui->recepcion_label->setText(QString::number(action.action) + ":" + QString::number(action.result));
+}
+
+void SlugsPIDControl::receivePidValues(int systemId, const mavlink_pid_t &pidValues)
+{
+    Q_UNUSED(systemId);
+
+     qDebug() << "\nACTUALIZANDO GUI = " << pidValues.idx;
+    switch(pidValues.idx)
+    {
+    case 1:
+        ui->dT_P_get->setText(QString::number(pidValues.pVal));
+        ui->dT_I_get->setText(QString::number(pidValues.iVal));
+        ui->dT_D_get->setText(QString::number(pidValues.dVal));
+        break;
+    case 2:
+        ui->HELPComm_P_get->setText(QString::number(pidValues.pVal));
+        ui->HELPComm_I_get->setText(QString::number(pidValues.iVal));
+        ui->HELPComm_FF_get->setText(QString::number(pidValues.dVal));
+        break;
+    case 3:
+        ui->dE_P_get->setText(QString::number(pidValues.pVal));
+        ui->dE_I_get->setText(QString::number(pidValues.iVal));
+        ui->dE_D_get->setText(QString::number(pidValues.dVal));
+        break;
+    case 4:
+        ui->dR_P_get->setText(QString::number(pidValues.pVal));
+        ui->dR_I_get->setText(QString::number(pidValues.iVal));
+        ui->dR_D_get->setText(QString::number(pidValues.dVal));
+        break;
+    case 5:
+        ui->dA_P_get->setText(QString::number(pidValues.pVal));
+        ui->dA_I_get->setText(QString::number(pidValues.iVal));
+        ui->dA_D_get->setText(QString::number(pidValues.dVal));
+        break;
+    case 9:
+        ui->P2dT_FF_get->setText(QString::number(pidValues.pVal));
+        break;
+
+    default:
+        qDebug() << "\nSLUGS RECEIVED AND SHOW PID type ID = " << pidValues.idx;
+          break;
+
+    }
+}
+
+
+void SlugsPIDControl::sendMessagePIDStatus(int PIDtype)
+{
+    //ToDo remplace actionId values
+
+
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(activeUAS);
+
+    if (slugsMav != NULL)
+    {
+        mavlink_message_t msg;
+        qDebug() << "\n Send Message SLUGS PID with loop index  = " << PIDtype;
+
+        switch(PIDtype)
+        {
+            case 0: //Air Speed PID values Request
+                actionSlugs.target = activeUAS->getUASID();
+                actionSlugs.actionId = 9;
+                actionSlugs.actionVal = 0;
+
+
+
+                mavlink_msg_slugs_action_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &actionSlugs);
+                slugsMav->sendMessage(msg);
+                break;
+
+            case 1: //Heigth Error lo Pitch Comm PID values request
+                actionSlugs.target = activeUAS->getUASID();
+                actionSlugs.actionId = 9;
+                actionSlugs.actionVal = 1;
+
+
+                mavlink_msg_slugs_action_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &actionSlugs);
+                slugsMav->sendMessage(msg);
+                break;
+
+            case 2://Pitch Followei PID values Request
+                actionSlugs.target = activeUAS->getUASID();
+                actionSlugs.actionId = 9;
+                actionSlugs.actionVal = 2;
+
+
+                mavlink_msg_slugs_action_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &actionSlugs);
+                slugsMav->sendMessage(msg);
+                break;
+
+            case 3:// Yaw Damper PID values  request
+                actionSlugs.target = activeUAS->getUASID();
+                actionSlugs.actionId = 9;
+                actionSlugs.actionVal = 3;
+
+
+                mavlink_msg_slugs_action_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &actionSlugs);
+                slugsMav->sendMessage(msg);
+                break;
+
+            case 4: // Roll Control PID values request
+                actionSlugs.target = activeUAS->getUASID();
+                actionSlugs.actionId = 9;
+                actionSlugs.actionVal = 4;
+
+
+                mavlink_msg_slugs_action_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &actionSlugs);
+                slugsMav->sendMessage(msg);
+                break;
+
+            case 8: // Pitch to dT FF term
+                actionSlugs.target = activeUAS->getUASID();
+                actionSlugs.actionId = 9;
+                actionSlugs.actionVal = 8;
+
+
+                mavlink_msg_slugs_action_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &actionSlugs);
+                slugsMav->sendMessage(msg);
+                break;
+
+
+            default:
+                qDebug() << "\nSLUGS RECEIVED PID type ID = " << PIDtype;
+                  break;
+
+
+        }
+    }
 }
 
 #endif // MAVLINK_ENABLED_SLUGS

src/ui/SlugsPIDControl.h

@@ -49,12 +49,26 @@ public slots:
     void connect_set_pushButtons();
 
     /**
+     * @brief Connect Set pushButtons to change the color GroupBox
+     *
+     * @param
+     */
+    void connect_get_pushButtons();
+
+    /**
      * @brief Connect Edition Lines for PID Values
      *
      * @param
      */
     void connect_editLinesPDIvalues();
 
+    /**
+     * @brief send a PDI request message to UAS
+     *
+     * @param
+     */
+    void sendMessagePIDStatus(int PIDtype);
+
 // Fuctions for Air Speed GroupBox
     /**
      * @brief Change color style to red when PID values of Air Speed are edited
@@ -75,6 +89,13 @@ public slots:
      * @param
      */
     void connect_AirSpeed_LineEdit();
+    /**
+     * @brief get message PID Air Speed(loop index = 0) from UAS
+     *
+     * @param
+     */
+    void get_AirSpeed_PID();
+
 
 // Functions for Pitch Followei GroupBox
     /**
@@ -96,6 +117,13 @@ public slots:
          * @param
          */
      void connect_PitchFollowei_LineEdit();
+     /**
+      * @brief get message PID Pitch Followei(loop index = 2) from UAS
+      *
+      * @param
+      */
+     void get_PitchFollowei_PID();
+
 
      // Functions for Roll Control GroupBox
      /**
@@ -117,6 +145,13 @@ public slots:
               * @param
               */
      void connect_RollControl_LineEdit();
+     /**
+      * @brief get message PID Roll Control(loop index = 4) from UAS
+      *
+      * @param
+      */
+     void get_RollControl_PID();
+
 
      // Functions for Heigth Error GroupBox
      /**
@@ -138,6 +173,12 @@ public slots:
               * @param
               */
      void connect_HeigthError_LineEdit();
+     /**
+      * @brief get message PID Heigth Error(loop index = 1) from UAS
+      *
+      * @param
+      */
+     void get_HeigthError_PID();
 
      // Functions for Yaw Damper GroupBox
      /**
@@ -159,6 +200,14 @@ public slots:
               * @param
               */
      void connect_YawDamper_LineEdit();
+     /**
+      * @brief get message PID Yaw Damper(loop index = 3) from UAS
+      *
+      * @param
+      */
+     void get_YawDamper_PID();
+
+
 
      // Functions for Pitch to dT GroupBox
      /**
@@ -180,6 +229,12 @@ public slots:
               * @param
               */
      void connect_Pitch2dT_LineEdit();
+     /**
+      * @brief get message PID Pitch2dT(loop index = 8) from UAS
+      *
+      * @param
+      */
+     void get_Pitch2dT_PID();
 
 
      //Create, send and get Messages PID
@@ -187,6 +242,7 @@ public slots:
 #ifdef MAVLINK_ENABLED_SLUGS
 
      void recibeMensaje(int systemId, const mavlink_action_ack_t& action);
+     void receivePidValues(int systemId, const mavlink_pid_t& pidValues);
 
 #endif // MAVLINK_ENABLED_SLUG
 
@@ -206,6 +262,7 @@ private:
 
     //SlugsMav Message
     mavlink_pid_t pidMessage;
+    mavlink_slugs_action_t actionSlugs;
 };
 
 #endif // SLUGSPIDCONTROL_H

src/ui/SlugsPIDControl.ui

@@ -72,14 +72,14 @@
           <item row="0" column="1">
            <widget class="QLineEdit" name="dT_P_set">
             <property name="text">
-             <string>dT_P_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
            <widget class="QLineEdit" name="dT_P_get">
             <property name="text">
-             <string>dT_P_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -89,14 +89,14 @@
           <item row="1" column="1">
            <widget class="QLineEdit" name="dT_I_set">
             <property name="text">
-             <string>dT_I_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="1" column="2">
            <widget class="QLineEdit" name="dT_I_get">
             <property name="text">
-             <string>dT_I_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -106,14 +106,14 @@
           <item row="2" column="1">
            <widget class="QLineEdit" name="dT_D_set">
             <property name="text">
-             <string>dT_D_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="2" column="2">
            <widget class="QLineEdit" name="dT_D_get">
             <property name="text">
-             <string>dT_D_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -242,14 +242,14 @@
           <item row="0" column="1">
            <widget class="QLineEdit" name="dE_P_set">
             <property name="text">
-             <string>dE_P_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
            <widget class="QLineEdit" name="dE_P_get">
             <property name="text">
-             <string>dE_P_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -259,14 +259,14 @@
           <item row="1" column="1">
            <widget class="QLineEdit" name="dE_I_set">
             <property name="text">
-             <string>dE_I_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="1" column="2">
            <widget class="QLineEdit" name="dE_I_get">
             <property name="text">
-             <string>dE_I_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -276,14 +276,14 @@
           <item row="2" column="1">
            <widget class="QLineEdit" name="dE_D_set">
             <property name="text">
-             <string>dE_D_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="2" column="2">
            <widget class="QLineEdit" name="dE_D_get">
             <property name="text">
-             <string>dE_D_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -405,14 +405,14 @@
           <item row="0" column="1">
            <widget class="QLineEdit" name="dA_P_set">
             <property name="text">
-             <string>dA_P_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
            <widget class="QLineEdit" name="dA_P_get">
             <property name="text">
-             <string>dA_P_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -422,14 +422,14 @@
           <item row="1" column="1">
            <widget class="QLineEdit" name="dA_I_set">
             <property name="text">
-             <string>dA_I_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="1" column="2">
            <widget class="QLineEdit" name="dA_I_get">
             <property name="text">
-             <string>dA_I_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -439,14 +439,14 @@
           <item row="2" column="1">
            <widget class="QLineEdit" name="dA_D_set">
             <property name="text">
-             <string>dA_D_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="2" column="2">
            <widget class="QLineEdit" name="dA_D_get">
             <property name="text">
-             <string>dA_D_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -545,14 +545,14 @@
           <item row="0" column="1">
            <widget class="QLineEdit" name="HELPComm_P_set">
             <property name="text">
-             <string>HELPComm_P_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
            <widget class="QLineEdit" name="HELPComm_P_get">
             <property name="text">
-             <string>HELPComm_P_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -562,14 +562,14 @@
           <item row="1" column="1">
            <widget class="QLineEdit" name="HELPComm_I_set">
             <property name="text">
-             <string>HELPComm_I_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="1" column="2">
            <widget class="QLineEdit" name="HELPComm_I_get">
             <property name="text">
-             <string>HELPComm_I_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -646,14 +646,14 @@
           <item row="0" column="1">
            <widget class="QLineEdit" name="HELPComm_FF_set">
             <property name="text">
-             <string>HELPComm_FF_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
            <widget class="QLineEdit" name="HELPComm_FF_get">
             <property name="text">
-             <string>HELPComm_FF_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -775,14 +775,14 @@
           <item row="0" column="1">
            <widget class="QLineEdit" name="dR_P_set">
             <property name="text">
-             <string>dR_P_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
            <widget class="QLineEdit" name="dR_P_get">
             <property name="text">
-             <string>dR_P_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -792,14 +792,14 @@
           <item row="1" column="1">
            <widget class="QLineEdit" name="dR_I_set">
             <property name="text">
-             <string>dR_I_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="1" column="2">
            <widget class="QLineEdit" name="dR_I_get">
             <property name="text">
-             <string>dR_I_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -809,14 +809,14 @@
           <item row="2" column="1">
            <widget class="QLineEdit" name="dR_D_set">
             <property name="text">
-             <string>dR_D_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="2" column="2">
            <widget class="QLineEdit" name="dR_D_get">
             <property name="text">
-             <string>dR_D_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>
@@ -910,14 +910,14 @@
           <item row="0" column="1">
            <widget class="QLineEdit" name="P2dT_FF_set">
             <property name="text">
-             <string>P2dT_FF_set</string>
+             <string>0.0</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
            <widget class="QLineEdit" name="P2dT_FF_get">
             <property name="text">
-             <string>P2dT_FF_get</string>
+             <string>0.0</string>
             </property>
             <property name="readOnly">
              <bool>true</bool>

src/ui/SlugsVideoCamControl.h

@@ -23,13 +23,7 @@ public:
 protected:
     virtual void mousePressEvent(QMouseEvent* event);
     virtual void mouseReleaseEvent(QMouseEvent* event);
-    //void mouseMoveEvent(QMouseEvent* event);
-     void mouseMoveEvent(QMouseEvent* event);
-   // virtual void wheelEvent(QWheelEvent* event);
-    //virtual void resizeEvent(QResizeEvent* event);
-
-
-
+    void mouseMoveEvent(QMouseEvent* event);
 
 private:
     Ui::SlugsVideoCamControl *ui;