Upload files to 'src/unitdev01/unitdev01'

src/unitdev01/unitdev01/xbee.py

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+import sys
+import time
+import math
+import serial
+import struct
+from PyQt5 import QtWidgets
+from PyQt5.QtCore import QThread, pyqtSignal
+from PyQt5.QtWidgets import QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QPushButton, QCheckBox, QWidget, QMainWindow, QComboBox
+from pymavlink import mavutil
+from pymavlink.dialects.v20 import ardupilotmega as mavlink2
+
+class PacketCapture:
+    def __init__(self):
+        self.data = bytearray()
+
+    def write(self, b):
+        self.data.extend(b)
+        return len(b)
+  
+class MAVLinkWorker(QThread):
+    state_signal = pyqtSignal(str, str)
+    battery_signal = pyqtSignal(str, float)
+    gps_signal = pyqtSignal(str, float, float)
+    gps_status_signal = pyqtSignal(str, int, int)
+    local_position_signal = pyqtSignal(str, float, float, float)
+    imu_signal = pyqtSignal(str, float)
+    hdg_signal = pyqtSignal(str, float)
+    groundspeed_signal = pyqtSignal(str, float)
+    ping_signal = pyqtSignal(str, float)
+    loss_signal = pyqtSignal(str, float)
+    frequency_signal = pyqtSignal(str, float)
+    param_signal = pyqtSignal(str, int)
+    kbps_signal = pyqtSignal(str, float)
+
+    def __init__(self):
+        super().__init__()
+        self.namespaces = ['UAV1', 'UAV2', 'UAV3']
+        self.connection = mavutil.mavlink_connection('/dev/ttyUSB0', baud=57600)
+        self.connection.wait_heartbeat()
+        for sysid in self.namespaces:
+            sysid = int(sysid.replace('UAV', ''))
+            self.set_sr_params(sysid)
+        self.running = True
+
+        # 用於計算頻率丟包
+        self.message_count = {}
+        self.frequency = {}
+        self.start_time = {}
+        self.seq_numbers = {}
+        self.packet_loss_count = {}
+        self.total_packet_count = {}
+        self.loss_percentage = {}
+        self.total_bytes_received = {}
+        self.throughput_KBps = {}
+
+        for namespace in self.namespaces:
+            self.request_param(namespace, "SR1_EXTRA1")
+        self.connection.mav.timesync_send( 
+            0, #tc1
+            int(time.time() * 1e9) #ts1
+        )
+
+    def run(self):
+        while self.running:
+            try:
+                msg = self.connection.recv_msg()
+                current_time = time.time()
+                if not msg:
+                    continue
+                sysid = msg.get_srcSystem()
+                if sysid == 0:
+                    continue
+                namespace = f"UAV{sysid}"
+                msg_type = msg.get_type()
+                if msg_type =="BAD_DATA":
+                    continue
+                
+
+                if sysid not in self.total_bytes_received:
+                    self.total_bytes_received[sysid] = 0
+                    self.throughput_KBps[sysid] = 0
+
+                # 計算訊息大小
+                msg_bytes = msg.get_msgbuf()  # 取得封包的 bytes
+                if msg_bytes:
+                    self.total_bytes_received[sysid] += len(msg_bytes)
+                
+                # Packet loss calculation
+                if sysid not in self.seq_numbers:
+                    self.seq_numbers[sysid] = msg.get_seq()  # Initialize sequence number tracking
+                    self.packet_loss_count[sysid] = 0
+                    self.total_packet_count[sysid] = 1
+                else:
+                    current_seq = msg.get_seq()
+                    expected_seq = (self.seq_numbers[sysid] + 1) % 256
+                    self.total_packet_count[sysid] += 1
+
+                    if current_seq != expected_seq: # Packet(s) lost
+                        lost_packets = (current_seq - expected_seq) % 256
+                        self.packet_loss_count[sysid] += lost_packets
+                        self.total_packet_count[sysid] += lost_packets
+
+                    self.seq_numbers[sysid] = current_seq
+                    self.loss_percentage[sysid] = (self.packet_loss_count[sysid] / self.total_packet_count[sysid]) * 100
+                    self.loss_signal.emit(namespace, self.loss_percentage[sysid])
+
+                # Frequency calculation
+                if sysid not in self.message_count:
+                    self.message_count[sysid] = 0
+                    self.start_time[sysid] = current_time
+
+                self.message_count[sysid] += 1
+
+                # 每隔一段時間更新
+                elapsed_time = current_time - self.start_time[sysid]
+                if elapsed_time >= 1:
+                    # 每秒頻率
+                    self.frequency[sysid] = self.message_count[sysid] / elapsed_time
+                    self.frequency_signal.emit(namespace, self.frequency[sysid])
+
+                    # 發送 timesync request
+                    self.connection.mav.timesync_send( 
+                        0, #tc1
+                        int(current_time * 1e9) #ts1
+                    )
+                    #吞吐量
+                    self.throughput_KBps[sysid] = (self.total_bytes_received[sysid] / (1024)) / elapsed_time 
+                    self.kbps_signal.emit(namespace, self.throughput_KBps[sysid])
+
+                    self.start_time[sysid] = current_time
+                    self.message_count[sysid] = 0
+                    self.total_bytes_received[sysid] = 0
+
+                if msg_type == "HEARTBEAT":
+                    mode = mavutil.mode_string_v10(msg)
+                    self.state_signal.emit(namespace, mode)
+
+                elif msg_type == "BATTERY_STATUS":
+                    voltage = msg.voltages[0] / 1000
+                    self.battery_signal.emit(namespace, voltage)
+
+                elif msg_type == "GLOBAL_POSITION_INT":
+                    latitude = msg.lat / 1e7
+                    longitude = msg.lon / 1e7
+                    self.gps_signal.emit(namespace, latitude, longitude)
+
+                elif msg_type == "GPS_RAW_INT":
+                    fix_type = msg.fix_type
+                    satellites_visible = msg.satellites_visible
+                    self.gps_status_signal.emit(namespace, fix_type, satellites_visible)
+
+                elif msg_type == "LOCAL_POSITION_NED":
+                    x = msg.y
+                    y = msg.x
+                    z = -msg.z
+                    self.local_position_signal.emit(namespace, x, y, z)
+
+                elif msg_type == "ATTITUDE":
+                    pitch = math.degrees(msg.pitch)
+                    self.imu_signal.emit(namespace, pitch)
+
+                elif msg_type == "VFR_HUD":
+                    groundspeed = msg.groundspeed
+                    heading = msg.heading
+                    self.hdg_signal.emit(namespace, heading)
+                    self.groundspeed_signal.emit(namespace, groundspeed)
+
+                elif msg_type == "TIMESYNC":
+                    round_trip_time = (int(current_time * 1e9) - msg.ts1) / 1e6
+                    if(round_trip_time<1e6):
+                        self.ping_signal.emit(namespace, round_trip_time)
+                
+                elif msg_type == 'PARAM_VALUE':
+                    param_name = "SR1_EXTRA1"
+                    if msg.param_id == param_name:
+                        self.param_signal.emit(namespace, msg.param_value)
+
+            except Exception as e:
+                print(f"Error reading message: {e}")
+
+    def stop(self):
+        self.running = False
+        self.connection.close()
+
+    def build_api_tx_frame(self, data: bytes, frame_id=0x01):
+        frame_type = 0x10
+        dest_addr64 = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'  # Broadcast
+        dest_addr16 = b'\xFF\xFE'
+        broadcast_radius = 0x00
+        options = 0x00
+
+        frame = struct.pack(">B", frame_type) + struct.pack(">B", frame_id)
+        frame += dest_addr64 + dest_addr16
+        frame += struct.pack(">BB", broadcast_radius, options) + data
+        checksum = 0xFF - (sum(frame) & 0xFF)
+        return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
+
+    def send_command(self, msg):
+        # Create the packet and send via serial port
+        PORT = "/dev/ttyUSB0"
+        BAUD = 57600
+        ser = serial.Serial(PORT, BAUD)
+        capture = PacketCapture()
+        mav = mavlink2.MAVLink(capture, srcSystem=1, srcComponent=1)
+        mav.version = 2
+        mav.send(msg)
+        api_frame = self.build_api_tx_frame(capture.data)
+        ser.write(api_frame)
+        print("RAW HEX:", capture.data.hex())
+
+    def set_mode(self, namespace, mode):
+        sysid = int(namespace.replace('UAV', ''))
+        if mode == 'STABILIZE':
+            mode = 0
+        elif mode == 'AUTO':
+            mode = 3
+        elif mode == 'GUIDED':
+            mode = 4
+        elif mode == 'LOITER':
+            mode = 5
+
+        msg = self.connection.mav.command_long_encode(
+            target_system=sysid,
+            target_component=1,
+            command=mavutil.mavlink.MAV_CMD_DO_SET_MODE,
+            confirmation=0,
+            param1=1,  # Custom mode enabled
+            param2=mode,
+            param3=0, param4=0, param5=0, param6=0, param7=0
+        )
+        self.send_command(msg)
+
+    def arm(self, namespace, arm):
+        sysid = int(namespace.replace('UAV', ''))
+        msg = self.connection.mav.command_long_encode(
+            target_system=sysid,
+            target_component=1,
+            command=mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+            confirmation=0,
+            param1=1 if arm else 0,  # 1 to arm, 0 to disarm
+            param2=0, param3=0, param4=0, param5=0, param6=0, param7=0
+        )
+        self.send_command(msg)
+
+    def takeoff(self, namespace, altitude):
+        sysid = int(namespace.replace('UAV', ''))
+        msg = self.connection.mav.command_long_encode(
+            target_system=sysid,
+            target_component=1,
+            command=mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
+            confirmation=0,
+            param1=0, param2=0, param3=0, param4=0, param5=0, param6=0,
+            param7=altitude
+        )
+        self.send_command(msg)
+
+    def land(self, namespace):
+        sysid = int(namespace.replace('UAV', ''))
+        msg = self.connection.mav.command_long_encode(
+            target_system=sysid,
+            target_component=1,
+            command=mavutil.mavlink.MAV_CMD_NAV_LAND,
+            confirmation=0,
+            param1=0, param2=0, param3=0, param4=0, param5=0, param6=0,
+            param7=0
+        )
+        self.send_command(msg)
+
+    def set_local_position(self, namespace, x, y, z):
+        sysid = int(namespace.replace('UAV', ''))
+        msg = self.connection.mav.set_position_target_local_ned_encode(
+            0, sysid, 1,  # time_boot_ms, sysid, compid
+            mavutil.mavlink.MAV_FRAME_LOCAL_NED,  # Frame
+            0b110111111000,  # Mask
+            y, x, -z,  # Position
+            0, 0, 0,  # Velocity
+            0, 0, 0,  # Acceleration
+            0, 0  # Yaw, yaw_rate
+        )
+        self.send_command(msg)
+
+    def reboot_drone(self, namespace):
+        sysid = int(namespace.replace('UAV', ''))
+        self.connection.mav.command_long_send(
+            sysid,
+            1,  # target_component (一般為1)
+            mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,  # Reboot 命令
+            0,  # confirmation
+            1,  # 第一個參數 (1 = reboot，0 = 無操作，2 = 關機)
+            0, 0, 0, 0, 0, 0  # 其餘參數保留
+        )
+
+    def set_param(self, namespace, param_name, value):
+        sysid = int(namespace.replace('UAV', ''))
+        try:
+            self.connection.mav.param_set_send(
+                sysid,
+                1,
+                param_name.encode('utf-8'),
+                float(value),
+                mavutil.mavlink.MAV_PARAM_TYPE_REAL32
+            )
+        except Exception as e:
+            print(f"Failed to set parameter {param_name}: {e}")
+
+    def request_param(self, namespace, param_name):
+        sysid = int(namespace.replace('UAV', ''))
+        try:
+            self.connection.mav.param_request_read_send(
+                sysid,  # 系統 ID
+                1,  # 組件 ID
+                param_name.encode('utf-8'),  # 參數名稱
+                -1  # 參數索引，-1 表示根據名稱請求
+            )
+        except Exception as e:
+            print(f"Failed to set parameter {param_name}: {e}")
+
+    '''
+    def set_sr_params(self, sysid):
+        """ 直接設置 MAVLink 訊息頻率 """
+        freqs = [0, 2, 4]
+        params = {
+            "SR1_ADSB": freqs[0],
+            "SR1_EXT_STAT": freqs[1],
+            "SR1_EXTRA1": freqs[2],
+            "SR1_EXTRA2": freqs[2],
+            "SR1_EXTRA3": freqs[1],
+            "SR1_POSITION": freqs[1],
+            "SR1_RAW_SENS": freqs[1],
+            "SR1_RC_CHAN": freqs[1]
+        }
+        for param, value in params.items():
+            self.set_param(f"UAV{sysid}", param, value)
+    '''
+    def set_sr_params(self, sysid):
+        """ 直接設置 MAVLink 訊息頻率 """
+        freqs = [0, 1, 1]
+        params = {
+            "SR1_ADSB": freqs[0],
+            "SR1_EXT_STAT": freqs[0],
+            "SR1_EXTRA1": freqs[2],
+            "SR1_EXTRA2": freqs[2],
+            "SR1_EXTRA3": freqs[0],
+            "SR1_POSITION": freqs[1],
+            "SR1_RAW_SENS": freqs[1],
+            "SR1_RC_CHAN": freqs[0]
+        }
+        for param, value in params.items():
+            self.set_param(f"UAV{sysid}", param, value)
+
+class DroneControlApp(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.workers = MAVLinkWorker()
+        self.namespaces = self.workers.namespaces
+        self.initUI()
+        
+        # Connect signals to update the UI
+        self.workers.state_signal.connect(self.update_state)
+        self.workers.battery_signal.connect(self.update_battery)
+        self.workers.gps_signal.connect(self.update_gps)
+        self.workers.gps_status_signal.connect(self.update_gps_status)
+        self.workers.local_position_signal.connect(self.update_local_position)
+        self.workers.imu_signal.connect(self.update_imu)
+        self.workers.hdg_signal.connect(self.update_hdg)
+        self.workers.groundspeed_signal.connect(self.update_groundspeed)
+        self.workers.ping_signal.connect(self.update_ping)
+        self.workers.loss_signal.connect(self.update_loss)
+        self.workers.frequency_signal.connect(self.update_frequency)
+        self.workers.param_signal.connect(self.update_param)
+        self.workers.kbps_signal.connect(self.update_kbps)
+        self.workers.start()
+            
+    def initUI(self):
+        self.setWindowTitle("多無人機控制介面")
+        self.setGeometry(100, 100, 800, 600)
+
+        # 主佈局
+        main_layout = QVBoxLayout()
+
+        # 無人機選擇區域
+        uav_layout = QHBoxLayout()
+        self.uav_checkboxes = {}
+        for namespace in self.namespaces:
+            checkbox = QCheckBox(namespace)
+            checkbox.setChecked(True)  # 預設勾選
+            self.uav_checkboxes[namespace] = checkbox
+            uav_layout.addWidget(checkbox)
+        main_layout.addLayout(uav_layout)
+
+        # 顯示所有無人機資訊，從左到右顯示
+        uav_layout = QHBoxLayout()
+        
+        # 逐個顯示 UAV 的資訊
+        self.uav_labels = {}
+        for namespace in self.namespaces:
+            uav_info_layout = QVBoxLayout()  # 每台 UAV 的資訊垂直排列
+
+            # 狀態顯示
+            self.uav_labels[namespace] = {
+                "status": QLabel("狀態：等待數據..."),
+                "battery": QLabel("電壓：等待數據..."),
+                "local_position": QLabel("Local Position：等待數據..."),
+                "gps": QLabel("GPS位置：等待數據...\n\n"),
+                "fix": QLabel("Fix Type：等待數據..."),
+                "satellites": QLabel("衛星數量：等待數據..."),
+                "groundspeed": QLabel("地面速度：等待數據..."),
+                "pitch": QLabel("Pitch：等待數據..."),
+                "heading": QLabel("Heading：等待數據..."),
+                "ping": QLabel("Ping：等待數據..."),
+                "loss": QLabel("丟包：等待數據..."),
+                "frequency": QLabel("頻率：等待數據..."),
+                "kbps": QLabel("吞吐量：等待數據..."),
+                "param": QLabel("SR1_EXTRA1：等待數據...")
+            }
+
+            # 把每個資訊添加到該 UAV 的垂直佈局中
+            for label in self.uav_labels[namespace].values():
+                uav_info_layout.addWidget(label)
+
+            # 將該 UAV 的資訊佈局加到主佈局中（從左到右排列）
+            uav_layout.addLayout(uav_info_layout)
+
+        main_layout.addLayout(uav_layout)
+
+        # SR1_EXTRA1參數設置
+        param_layout = QHBoxLayout()
+        self.paramInput = QLineEdit()
+        self.paramInput.setPlaceholderText("輸入SR1_EXTRA1的新值")
+        self.setParamButton = QPushButton("設置SR1_EXTRA1")
+        self.setParamButton.clicked.connect(self.set_SR1_EXTRA1)
+        param_layout.addWidget(self.paramInput)
+        param_layout.addWidget(self.setParamButton)
+        main_layout.addLayout(param_layout)
+
+        # 模式切換區域
+        mode_layout = QHBoxLayout()
+        self.modeComboBox = QComboBox()
+        self.modeComboBox.addItems(["GUIDED", "STABILIZE", "AUTO", "LOITER"])
+        self.modeButton = QPushButton("切換模式")
+        self.modeButton.clicked.connect(self.change_mode)
+        mode_layout.addWidget(QLabel("選擇模式："))
+        mode_layout.addWidget(self.modeComboBox)
+        mode_layout.addWidget(self.modeButton)
+        main_layout.addLayout(mode_layout)
+
+        # 解鎖按鈕
+        fly_layout = QHBoxLayout()
+        self.armButton = QPushButton("解鎖")
+        self.armButton.clicked.connect(self.arm_drone)
+
+        # 起飛按鈕
+        self.takeoffButton = QPushButton("起飛")
+        self.takeoffButton.clicked.connect(self.takeoff_drone)
+
+        # 降落按鈕
+        self.landButton = QPushButton("降落")
+        self.landButton.clicked.connect(self.land_drone)
+        fly_layout.addWidget(self.armButton)
+        fly_layout.addWidget(self.takeoffButton)
+        fly_layout.addWidget(self.landButton)
+        main_layout.addLayout(fly_layout)
+
+        # XYZ 設置欄位
+        xyz_layout = QHBoxLayout()
+        self.positionX = QLineEdit()
+        self.positionX.setPlaceholderText("X")
+        self.positionY = QLineEdit()
+        self.positionY.setPlaceholderText("Y")
+        self.positionZ = QLineEdit()
+        self.positionZ.setPlaceholderText("Z")
+        self.setPositionButton = QPushButton("設置位置")
+        self.setPositionButton.clicked.connect(self.set_local_position)
+        xyz_layout.addWidget(QLabel("輸入位置："))
+        xyz_layout.addWidget(self.positionX)
+        xyz_layout.addWidget(self.positionY)
+        xyz_layout.addWidget(self.positionZ)
+        xyz_layout.addWidget(self.setPositionButton)
+        main_layout.addLayout(xyz_layout)
+
+        # 設置 XYZ 的按鈕
+
+        #設置重啟按鈕
+        self.rebootButton = QPushButton("重啟")
+        self.rebootButton.clicked.connect(self.reboot_drone)
+        main_layout.addWidget(self.rebootButton)
+
+        # 設置主佈局
+        central_widget = QWidget(self)
+        central_widget.setLayout(main_layout)
+        self.setCentralWidget(central_widget)
+        self.show()
+
+    def closeEvent(self, event):
+        try:
+            self.workers.stop()
+        finally:
+            event.accept()
+
+    def update_state(self, namespace, mode):
+        self.uav_labels[namespace]["status"].setText(f"狀態：{mode}")
+
+    def update_battery(self, namespace, voltage):
+        self.uav_labels[namespace]["battery"].setText(f"電壓：{voltage:.2f} V")
+
+    def update_gps(self, namespace, latitude, longitude):
+        self.uav_labels[namespace]["gps"].setText(f"GPS位置： \n    Lat:{latitude:.6f}° \n    Lon:{longitude:.6f}°")
+
+    def update_gps_status(self, namespace, fix_type, satellites_visible):
+        fix_type_str = {
+            0: "No Fix",
+            1: "No Fix",
+            2: "2D Fix",
+            3: "3D Fix",
+            4: "RTK Float",
+            5: "RTK Fix"
+        }.get(fix_type, "Unknown")
+        self.uav_labels[namespace]["fix"].setText(f"Fix Type：{fix_type_str}")
+        self.uav_labels[namespace]["satellites"].setText(f"衛星數量：{satellites_visible}")
+
+    def update_local_position(self, namespace, x, y, z):
+        self.uav_labels[namespace]["local_position"].setText(f"Local：({x:.2f}, {y:.2f}, {z:.2f})")
+
+    def update_imu(self, namespace, pitch):
+        self.uav_labels[namespace]["pitch"].setText(f"Pitch：{pitch:.2f}°")
+
+    def update_hdg(self, namespace, heading):
+        self.uav_labels[namespace]["heading"].setText(f"Heading：{heading:.2f}°")
+
+    def update_groundspeed(self, namespace, groundspeed):
+        self.uav_labels[namespace]["groundspeed"].setText(f"地面速度：{groundspeed:.2f} m/s")
+    
+    def update_ping(self, namespace, ping):
+        self.uav_labels[namespace]["ping"].setText(f"Ping：{ping:.2f} ms")
+
+    def update_loss(self, namespace, loss):
+        self.uav_labels[namespace]["loss"].setText(f"丟包：{loss:.2f}%")
+
+    def update_frequency(self, namespace, frequency):
+        self.uav_labels[namespace]["frequency"].setText(f"頻率：{frequency:.2f} Hz")
+
+    def update_kbps(self, namespace, kbps):
+        self.uav_labels[namespace]["kbps"].setText(f"吞吐量：{kbps:.2f} KB/s")
+
+    def update_param(self, namespace, value):
+        self.uav_labels[namespace]["param"].setText(f"SR1_EXTRA1:{value}")
+
+    def change_mode(self):
+        try:
+            selected_mode = self.modeComboBox.currentText()
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.set_mode(namespace, selected_mode)
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"模式切換失敗：{str(e)}")
+
+    def arm_drone(self):
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.arm(namespace, True)
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"解鎖失敗：{e}")
+
+    def takeoff_drone(self):
+        try:
+            z_text = self.positionZ.text().strip()
+            z = float(z_text) if z_text else 5.0
+            h = 2
+            for i, namespace in enumerate(self.namespaces):
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.takeoff(namespace, z + h * i)
+            
+        except ValueError:
+            QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
+
+    def land_drone(self):
+        for namespace in self.namespaces:
+            if self.uav_checkboxes[namespace].isChecked():
+                self.workers.land(namespace)
+
+    def set_local_position(self):
+        try:
+            x = float(self.positionX.text().strip())
+            y = float(self.positionY.text().strip())
+            z = float(self.positionZ.text().strip())
+            h = 2
+            for i, namespace in enumerate(self.namespaces):
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.set_local_position(namespace, x, y, z + h * i)
+            
+        except ValueError:
+            QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
+
+    def reboot_drone(self):
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.reboot_drone(namespace)
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"重啟失敗：{e}")
+
+    def set_SR1_EXTRA1(self):
+        param_value = self.paramInput.text().strip()
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.set_param(namespace, "SR1_EXTRA1", param_value)
+                    self.workers.request_param(namespace, "SR1_EXTRA1")
+        except ValueError:
+            QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
+
+def main():
+    app = QtWidgets.QApplication(sys.argv)
+    window = DroneControlApp()
+    window.show()
+    sys.exit(app.exec_())
+
+if __name__ == '__main__':
+    main()