gui.fl

UAV导航及控制,是老外编写的一个源代码开放程序

# data file for the Fltk User Interface Designer (fluid)
version 1.0102 
header_name {.h} 
code_name {.cpp}
class UserInterface {open
} {
  Function {make_window()} {open
  } {
    Fl_Window {} {
      label {Ground station} open
      xywh {531 142 400 338} visible
    } {
      Fl_Tabs {} {open
        xywh {10 10 375 290}
      } {
        Fl_Group {} {
          label Attitude open selected
          xywh {10 35 375 265}
        } {
          Fl_Box horizon {
            label attitude
            xywh {20 45 240 240} box DOWN_BOX
            code0 {\#include "Horizon.h"}
            class Horizon
          }
          Fl_Dial {} {
            label N1
            xywh {270 40 50 50} type Line align 8 maximum 1024
          }
          Fl_Dial {} {
            label N2
            xywh {270 90 50 50} type Line align 8 maximum 1024
          }
          Fl_Dial {} {
            label CHT
            xywh {270 140 50 50} type Line align 8 maximum 1024
          }
          Fl_Dial {} {
            label EGT
            xywh {270 190 50 50} type Line align 8 maximum 1024
          }
          Fl_Dial trace_dial {
            label Trace
            xywh {270 240 50 50} type Line align 8 maximum 2
          }
        }
        Fl_Group {} {
          label Gains
          xywh {10 35 375 260} hide
        } {
          Fl_Group {} {
            label Pitch open
            xywh {140 60 105 70} box THIN_DOWN_FRAME align 5
          } {
            Fl_Value_Input gain_pitch_p {
              label {P:}
              xywh {160 65 80 20}
            }
            Fl_Value_Input gain_pitch_i {
              label {I:}
              xywh {160 85 80 20}
            }
            Fl_Value_Input gain_pitch_d {
              label {D:}
              xywh {160 105 80 20}
            }
          }
          Fl_Group {} {
            label Roll open
            xywh {20 60 105 70} box THIN_DOWN_FRAME align 5
          } {
            Fl_Value_Input gain_roll_p {
              label {P:}
              xywh {40 65 80 20}
            }
            Fl_Value_Input gain_roll_i {
              label {I:}
              xywh {40 85 80 20}
            }
            Fl_Value_Input gain_roll_d {
              label {D:}
              xywh {40 105 80 20}
            }
          }
          Fl_Group {} {
            label Yaw open
            xywh {260 60 105 70} box THIN_DOWN_FRAME align 5
          } {
            Fl_Value_Input gain_yaw_p {
              label {P:}
              xywh {280 65 80 20}
            }
            Fl_Value_Input gain_yaw_i {
              label {I:}
              xywh {280 85 80 20}
            }
            Fl_Value_Input gain_yaw_d {
              label {D:}
              xywh {280 105 80 20}
            }
          }
          Fl_Button {} {
            label Upload
            xywh {205 265 175 25}
          }
          Fl_Button {} {
            label Refresh
            xywh {15 265 170 25}
          }
          Fl_Group {} {
            label Forward open
            xywh {20 160 105 70} box THIN_DOWN_FRAME align 5
          } {
            Fl_Value_Input gain_x_p {
              label {P:}
              xywh {40 165 80 20}
            }
            Fl_Value_Input gain_x_i {
              label {I:}
              xywh {40 185 80 20}
            }
            Fl_Value_Input gain_x_d {
              label {D:}
              xywh {40 205 80 20}
            }
          }
          Fl_Group {} {
            label Sideways open
            xywh {140 160 105 70} box THIN_DOWN_FRAME align 5
          } {
            Fl_Value_Input gain_y_p {
              label {P:}
              xywh {160 165 80 20}
            }
            Fl_Value_Input gain_y_i {
              label {I:}
              xywh {160 185 80 20}
            }
            Fl_Value_Input gain_y_d {
              label {D:}
              xywh {160 205 80 20}
            }
          }
          Fl_Group {} {
            label Up open
            xywh {260 160 105 70} box THIN_DOWN_FRAME align 5
          } {
            Fl_Value_Input gain_up_p {
              label {P:}
              xywh {280 165 80 20}
            }
            Fl_Value_Input gain_up_i {
              label {I:}
              xywh {280 185 80 20}
            }
            Fl_Value_Input gain_up_d {
              label {D:}
              xywh {280 205 80 20}
            }
          }
        }
        Fl_Group {} {
          label State open
          xywh {10 35 375 260} hide
        } {
          Fl_Value_Output accel_x {
            label {Accel:}
            xywh {90 60 75 25} step 0.001
          }
          Fl_Value_Output accel_y {
            label {value:}
            xywh {165 60 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output accel_z {
            label {value:}
            xywh {240 60 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output rates_p {
            label Rates
            xywh {90 90 75 25} step 0.001
          }
          Fl_Value_Output rates_q {
            label {value:}
            xywh {165 90 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output rates_r {
            label {value:}
            xywh {240 90 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output pos_x {
            label Pos
            xywh {90 120 75 25} step 0.001
          }
          Fl_Value_Output pos_y {
            label {value:}
            xywh {165 120 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output pos_z {
            label {value:}
            xywh {240 120 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output vel_x {
            label Vel
            xywh {90 150 75 25} step 0.001
          }
          Fl_Value_Output vel_y {
            label {value:}
            xywh {165 150 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output vel_z {
            label {value:}
            xywh {240 150 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output angle_phi {
            label Angle
            xywh {90 180 75 25} step 0.001
          }
          Fl_Value_Output angle_theta {
            label {value:}
            xywh {165 180 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output angle_psi {
            label {value:}
            xywh {240 180 75 25} labeltype NO_LABEL step 0.001
          }
          Fl_Value_Output trace {
            label Trace
            xywh {90 205 75 25}
          }
          Fl_Value_Output latitude {
            label {Lat:}
            xywh {90 230 95 25} step 1e-06
          }
          Fl_Value_Output longitude {
            label {Long:}
            xywh {240 230 90 25} step 1e-06
          }
          Fl_Value_Output altitude_llh {
            label Alt
            xywh {90 255 75 25}
          }
        }
        Fl_Group {} {
          label PPM open
          xywh {10 35 375 265} hide
        } {
          Fl_Value_Slider ppm_roll {
            label Roll
            xywh {20 45 30 235} minimum 17000 maximum 7000 step 8 value 16000 textsize 8
          }
          Fl_Value_Slider ppm_pitch {
            label Pitch
            xywh {65 45 30 235} minimum 17000 maximum 7000 step 8 value 16000 textsize 8
          }
          Fl_Value_Slider ppm_yaw {
            label Yaw
            xywh {110 45 30 235} minimum 17000 maximum 7000 step 8 value 16000 textsize 8
          }
          Fl_Value_Slider ppm_throttle {
            label Thr
            xywh {155 45 30 235} minimum 17000 maximum 7000 step 8 value 16000 textsize 8
          }
          Fl_Value_Slider ppm_coll {
            label Coll
            xywh {200 45 30 235} minimum 17000 maximum 7000 step 8 value 16000 textsize 8
          }
          Fl_Value_Slider ppm_mode {
            label Mod
            xywh {245 45 30 235} minimum 17000 maximum 7000 step 8 value 16000 textsize 8
          }
          Fl_Value_Slider ppm_manual {
            label Man
            xywh {290 45 30 235} minimum 17000 maximum 7000 step 8 value 16000 textsize 8
          }
          Fl_Value_Slider ppm_extra {
            label Ext
            xywh {335 45 30 235} minimum 17000 maximum 7000 step 8 value 16000 textsize 8
          }
        }
        Fl_Group joystickTab {
          label Joystick open
          xywh {10 35 375 265} hide
          code0 {\#include "Joystick.h"}
        } {
          Fl_Group buttons {
            label Buttons
            xywh {285 65 85 95} box THIN_DOWN_BOX
          } {
            Fl_Check_Button {} {
              label 1
              xywh {295 70 25 25} down_box DOWN_BOX
            }
            Fl_Check_Button {} {
              label 2
              xywh {295 90 25 25} down_box DOWN_BOX
            }
            Fl_Check_Button {} {
              label 3
              xywh {295 110 25 25} down_box DOWN_BOX
            }
            Fl_Check_Button {} {
              label 4
              xywh {295 130 25 25} down_box DOWN_BOX
            }
            Fl_Check_Button {} {
              label 5
              xywh {330 70 25 25} down_box DOWN_BOX
            }
            Fl_Check_Button {} {
              label 6
              xywh {330 90 25 25} down_box DOWN_BOX
            }
            Fl_Check_Button {} {
              label 7
              xywh {330 110 25 25} down_box DOWN_BOX
            }
            Fl_Check_Button {} {
              label 8
              xywh {330 125 25 30} down_box DOWN_BOX
            }
          }
          Fl_Group axes {
            label Axes open
            xywh {20 40 245 260} labeltype NO_LABEL
          } {
            Fl_Value_Slider rollSlider {
              label { }
              xywh {20 50 30 215} type {Vert Knob} minimum 32768 maximum -32768 step 1 value 32768 textsize 8
            }
            Fl_Value_Slider pitchSlider {
              label { }
              xywh {63 50 30 215} type {Vert Knob} minimum 32768 maximum -32768 step 1 value 32768 textsize 8
            }
            Fl_Value_Slider collSlider {
              label { }
              xywh {106 50 30 215} type {Vert Knob} minimum 32768 maximum -32768 step 1 value 32768 textsize 8
            }
            Fl_Value_Slider yawSlider {
              label { }
              xywh {149 50 30 215} type {Vert Knob} minimum 32768 maximum -32768 step 1 value 32768 textsize 8
            }
            Fl_Value_Slider {} {
              label 4
              xywh {192 50 30 225} type {Vert Knob} minimum 32768 maximum -32768 step 1 value 32768 textsize 8
            }
            Fl_Value_Slider {} {
              label 5
              xywh {235 50 30 225} type {Vert Knob} minimum 32768 maximum -32768 step 1 value 32768 textsize 8
            }
            Fl_Value_Input rollAxes {
              label { }
              xywh {20 265 15 25}
            }
            Fl_Value_Input pitchAxes {
              label { }
              xywh {65 265 15 25}
            }
            Fl_Value_Input collAxes {
              label { }
              xywh {105 265 15 25}
            }
            Fl_Value_Input yawAxes {
              label { }
              xywh {150 265 15 25}
            }
          }
          Fl_Light_Button joy_status {
            label {Open joystick}
            callback {reconnect_joy();}
            xywh {270 270 110 25}
          }
          Fl_Value_Input guiJoyID {
            label {JoyID:}
            xywh {330 185 25 25}
          }
        }
      }
      Fl_Button {} {
        label Exit
        callback {std::exit( 0 );}
        xywh {265 305 120 25}
        code0 {\#include <cstdlib>}
      }
      Fl_Light_Button connected {
        label Reconnect
        callback { reconnect_server(); }
        xywh {155 305 100 25}
        code0 {\#include "Ground.h"}
      }
      Fl_Value_Output packets {
        label Packets
        xywh {60 305 80 25}
      }
    }
  }
}