Server: Update GUI

Server/server_gui.py

@@ -2,7 +2,7 @@
 
 # Form implementation generated from reading ui file 'server_gui.ui'
 #
-# Created by: PyQt5 UI code generator 5.13.1
+# Created by: PyQt5 UI code generator 5.13.0
 #
 # WARNING! All changes made in this file will be lost!
 
@@ -44,9 +44,17 @@ class Ui_MainWindow(object):
         self.verticalLayout.setSizeConstraint(QtWidgets.QLayout.SetMaximumSize)
         self.verticalLayout.setObjectName("verticalLayout")
         self.formLayout = QtWidgets.QFormLayout()
-        self.formLayout.setLabelAlignment(QtCore.Qt.AlignCenter)
-        self.formLayout.setFormAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout.setLabelAlignment(QtCore.Qt.AlignHCenter|QtCore.Qt.AlignTop)
+        self.formLayout.setFormAlignment(QtCore.Qt.AlignHCenter|QtCore.Qt.AlignTop)
         self.formLayout.setObjectName("formLayout")
+        self.start_text = QtWidgets.QLabel(self.centralwidget)
+        self.start_text.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.start_text.setAlignment(QtCore.Qt.AlignCenter)
+        self.start_text.setObjectName("start_text")
+        self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.start_text)
+        self.start_delay_spin = QtWidgets.QSpinBox(self.centralwidget)
+        self.start_delay_spin.setObjectName("start_delay_spin")
+        self.formLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.start_delay_spin)
         self.music_text = QtWidgets.QLabel(self.centralwidget)
         self.music_text.setLayoutDirection(QtCore.Qt.RightToLeft)
         self.music_text.setObjectName("music_text")
@@ -56,6 +64,10 @@ class Ui_MainWindow(object):
         self.music_delay_spin.setMaximum(1000.0)
         self.music_delay_spin.setObjectName("music_delay_spin")
         self.formLayout.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.music_delay_spin)
+        self.music_play_text = QtWidgets.QLabel(self.centralwidget)
+        self.music_play_text.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.music_play_text.setObjectName("music_play_text")
+        self.formLayout.setWidget(4, QtWidgets.QFormLayout.LabelRole, self.music_play_text)
         self.music_checkbox = QtWidgets.QCheckBox(self.centralwidget)
         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Fixed)
         sizePolicy.setHorizontalStretch(0)
@@ -70,18 +82,6 @@ class Ui_MainWindow(object):
         self.music_checkbox.setChecked(False)
         self.music_checkbox.setObjectName("music_checkbox")
         self.formLayout.setWidget(4, QtWidgets.QFormLayout.FieldRole, self.music_checkbox)
-        self.music_play_text = QtWidgets.QLabel(self.centralwidget)
-        self.music_play_text.setLayoutDirection(QtCore.Qt.RightToLeft)
-        self.music_play_text.setObjectName("music_play_text")
-        self.formLayout.setWidget(4, QtWidgets.QFormLayout.LabelRole, self.music_play_text)
-        self.start_delay_spin = QtWidgets.QSpinBox(self.centralwidget)
-        self.start_delay_spin.setObjectName("start_delay_spin")
-        self.formLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.start_delay_spin)
-        self.start_text = QtWidgets.QLabel(self.centralwidget)
-        self.start_text.setLayoutDirection(QtCore.Qt.RightToLeft)
-        self.start_text.setAlignment(QtCore.Qt.AlignCenter)
-        self.start_text.setObjectName("start_text")
-        self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.start_text)
         self.verticalLayout.addLayout(self.formLayout)
         self.line = QtWidgets.QFrame(self.centralwidget)
         self.line.setFrameShape(QtWidgets.QFrame.HLine)
@@ -89,42 +89,71 @@ class Ui_MainWindow(object):
         self.line.setObjectName("line")
         self.verticalLayout.addWidget(self.line)
         self.formLayout_2 = QtWidgets.QFormLayout()
-        self.formLayout_2.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_2.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_2.setFormAlignment(QtCore.Qt.AlignCenter)
         self.formLayout_2.setObjectName("formLayout_2")
-        self.stop_button = QtWidgets.QPushButton(self.centralwidget)
-        self.stop_button.setObjectName("stop_button")
-        self.formLayout_2.setWidget(10, QtWidgets.QFormLayout.FieldRole, self.stop_button)
-        self.pause_button = QtWidgets.QPushButton(self.centralwidget)
-        self.pause_button.setObjectName("pause_button")
-        self.formLayout_2.setWidget(9, QtWidgets.QFormLayout.FieldRole, self.pause_button)
+        self.check_button = QtWidgets.QPushButton(self.centralwidget)
+        self.check_button.setEnabled(True)
+        self.check_button.setObjectName("check_button")
+        self.formLayout_2.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.check_button)
         self.start_button = QtWidgets.QPushButton(self.centralwidget)
         self.start_button.setEnabled(True)
         self.start_button.setFlat(False)
         self.start_button.setObjectName("start_button")
-        self.formLayout_2.setWidget(8, QtWidgets.QFormLayout.FieldRole, self.start_button)
-        self.check_button = QtWidgets.QPushButton(self.centralwidget)
-        self.check_button.setEnabled(True)
-        self.check_button.setObjectName("check_button")
-        self.formLayout_2.setWidget(7, QtWidgets.QFormLayout.FieldRole, self.check_button)
+        self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.start_button)
+        self.pause_button = QtWidgets.QPushButton(self.centralwidget)
+        self.pause_button.setObjectName("pause_button")
+        self.formLayout_2.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.pause_button)
         self.verticalLayout.addLayout(self.formLayout_2)
+        self.line_5 = QtWidgets.QFrame(self.centralwidget)
+        self.line_5.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line_5.setFrameShadow(QtWidgets.QFrame.Sunken)
+        self.line_5.setObjectName("line_5")
+        self.verticalLayout.addWidget(self.line_5)
+        self.formLayout_5 = QtWidgets.QFormLayout()
+        self.formLayout_5.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_5.setFormAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_5.setContentsMargins(-1, 0, -1, -1)
+        self.formLayout_5.setObjectName("formLayout_5")
+        self.land_selected_button = QtWidgets.QPushButton(self.centralwidget)
+        self.land_selected_button.setObjectName("land_selected_button")
+        self.formLayout_5.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.land_selected_button)
+        self.land_all_button = QtWidgets.QPushButton(self.centralwidget)
+        self.land_all_button.setObjectName("land_all_button")
+        self.formLayout_5.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.land_all_button)
+        self.verticalLayout.addLayout(self.formLayout_5)
+        self.line_6 = QtWidgets.QFrame(self.centralwidget)
+        self.line_6.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line_6.setFrameShadow(QtWidgets.QFrame.Sunken)
+        self.line_6.setObjectName("line_6")
+        self.verticalLayout.addWidget(self.line_6)
+        self.formLayout_7 = QtWidgets.QFormLayout()
+        self.formLayout_7.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_7.setContentsMargins(-1, 0, -1, -1)
+        self.formLayout_7.setObjectName("formLayout_7")
+        self.visual_land_button = QtWidgets.QPushButton(self.centralwidget)
+        self.visual_land_button.setObjectName("visual_land_button")
+        self.formLayout_7.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.visual_land_button)
+        self.emergency_land_button = QtWidgets.QPushButton(self.centralwidget)
+        self.emergency_land_button.setObjectName("emergency_land_button")
+        self.formLayout_7.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.emergency_land_button)
+        self.verticalLayout.addLayout(self.formLayout_7)
         self.line_2 = QtWidgets.QFrame(self.centralwidget)
         self.line_2.setFrameShape(QtWidgets.QFrame.HLine)
         self.line_2.setFrameShadow(QtWidgets.QFrame.Sunken)
         self.line_2.setObjectName("line_2")
         self.verticalLayout.addWidget(self.line_2)
         self.formLayout_3 = QtWidgets.QFormLayout()
-        self.formLayout_3.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_3.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_3.setFormAlignment(QtCore.Qt.AlignCenter)
         self.formLayout_3.setVerticalSpacing(6)
         self.formLayout_3.setObjectName("formLayout_3")
         self.disarm_all_button = QtWidgets.QPushButton(self.centralwidget)
         self.disarm_all_button.setObjectName("disarm_all_button")
         self.formLayout_3.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.disarm_all_button)
-        self.disarm_button = QtWidgets.QPushButton(self.centralwidget)
-        self.disarm_button.setObjectName("disarm_button")
-        self.formLayout_3.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.disarm_button)
-        self.emergency_button = QtWidgets.QPushButton(self.centralwidget)
-        self.emergency_button.setObjectName("emergency_button")
-        self.formLayout_3.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.emergency_button)
+        self.disarm_selected_button = QtWidgets.QPushButton(self.centralwidget)
+        self.disarm_selected_button.setObjectName("disarm_selected_button")
+        self.formLayout_3.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.disarm_selected_button)
         self.verticalLayout.addLayout(self.formLayout_3)
         self.line_3 = QtWidgets.QFrame(self.centralwidget)
         self.line_3.setFrameShape(QtWidgets.QFrame.HLine)
@@ -132,11 +161,9 @@ class Ui_MainWindow(object):
         self.line_3.setObjectName("line_3")
         self.verticalLayout.addWidget(self.line_3)
         self.formLayout_4 = QtWidgets.QFormLayout()
-        self.formLayout_4.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_4.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_4.setFormAlignment(QtCore.Qt.AlignCenter)
         self.formLayout_4.setObjectName("formLayout_4")
-        self.land_button = QtWidgets.QPushButton(self.centralwidget)
-        self.land_button.setObjectName("land_button")
-        self.formLayout_4.setWidget(8, QtWidgets.QFormLayout.FieldRole, self.land_button)
         self.flip_button = QtWidgets.QPushButton(self.centralwidget)
         self.flip_button.setObjectName("flip_button")
         self.formLayout_4.setWidget(7, QtWidgets.QFormLayout.FieldRole, self.flip_button)
@@ -170,7 +197,8 @@ class Ui_MainWindow(object):
         self.line_4.setObjectName("line_4")
         self.verticalLayout.addWidget(self.line_4)
         self.formLayout_6 = QtWidgets.QFormLayout()
-        self.formLayout_6.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_6.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_6.setFormAlignment(QtCore.Qt.AlignBottom|QtCore.Qt.AlignHCenter)
         self.formLayout_6.setObjectName("formLayout_6")
         self.reboot_fcu = QtWidgets.QPushButton(self.centralwidget)
         self.reboot_fcu.setObjectName("reboot_fcu")
@@ -187,7 +215,7 @@ class Ui_MainWindow(object):
         self.gridLayout.addLayout(self.horizontalLayout, 0, 0, 1, 1)
         MainWindow.setCentralWidget(self.centralwidget)
         self.menubar = QtWidgets.QMenuBar(MainWindow)
-        self.menubar.setGeometry(QtCore.QRect(0, 0, 1360, 25))
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1360, 22))
         self.menubar.setObjectName("menubar")
         self.menuOptions = QtWidgets.QMenu(self.menubar)
         self.menuOptions.setObjectName("menuOptions")
@@ -292,19 +320,20 @@ class Ui_MainWindow(object):
     def retranslateUi(self, MainWindow):
         _translate = QtCore.QCoreApplication.translate
         MainWindow.setWindowTitle(_translate("MainWindow", "Clever Drone Show"))
+        self.start_text.setText(_translate("MainWindow", "  Start after"))
+        self.start_delay_spin.setSuffix(_translate("MainWindow", " s"))
         self.music_text.setText(_translate("MainWindow", "  Music after"))
         self.music_delay_spin.setSuffix(_translate("MainWindow", " s"))
         self.music_play_text.setText(_translate("MainWindow", "  Play music"))
-        self.start_delay_spin.setSuffix(_translate("MainWindow", " s"))
-        self.start_text.setText(_translate("MainWindow", "  Start after"))
-        self.stop_button.setText(_translate("MainWindow", "Stop and land all"))
-        self.pause_button.setText(_translate("MainWindow", "Pause"))
-        self.start_button.setText(_translate("MainWindow", "Start animation"))
         self.check_button.setText(_translate("MainWindow", "Preflight check"))
+        self.start_button.setText(_translate("MainWindow", "Start animation"))
+        self.pause_button.setText(_translate("MainWindow", "Pause"))
+        self.land_selected_button.setText(_translate("MainWindow", "Land selected"))
+        self.land_all_button.setText(_translate("MainWindow", "Land ALL"))
+        self.visual_land_button.setText(_translate("MainWindow", "Visual land"))
+        self.emergency_land_button.setText(_translate("MainWindow", "Emergency land"))
         self.disarm_all_button.setText(_translate("MainWindow", "Disarm ALL"))
-        self.disarm_button.setText(_translate("MainWindow", "Disarm selected"))
-        self.emergency_button.setText(_translate("MainWindow", "Emergency land"))
-        self.land_button.setText(_translate("MainWindow", "Land"))
+        self.disarm_selected_button.setText(_translate("MainWindow", "Disarm selected"))
         self.flip_button.setText(_translate("MainWindow", "Flip"))
         self.takeoff_button.setText(_translate("MainWindow", "Takeoff"))
         self.leds_button.setText(_translate("MainWindow", "Test leds"))

Server/server_gui.ui

@@ -71,11 +71,31 @@
         <item>
          <layout class="QFormLayout" name="formLayout">
           <property name="labelAlignment">
-           <set>Qt::AlignCenter</set>
+           <set>Qt::AlignHCenter|Qt::AlignTop</set>
           </property>
           <property name="formAlignment">
-           <set>Qt::AlignCenter</set>
+           <set>Qt::AlignHCenter|Qt::AlignTop</set>
           </property>
+          <item row="2" column="0">
+           <widget class="QLabel" name="start_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
+            </property>
+            <property name="text">
+             <string>  Start after</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QSpinBox" name="start_delay_spin">
+            <property name="suffix">
+             <string> s</string>
+            </property>
+           </widget>
+          </item>
           <item row="3" column="0">
            <widget class="QLabel" name="music_text">
             <property name="layoutDirection">
@@ -99,6 +119,16 @@
             </property>
            </widget>
           </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="music_play_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
+            </property>
+            <property name="text">
+             <string>  Play music</string>
+            </property>
+           </widget>
+          </item>
           <item row="4" column="1">
            <widget class="QCheckBox" name="music_checkbox">
             <property name="sizePolicy">
@@ -127,36 +157,6 @@
             </property>
            </widget>
           </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="music_play_text">
-            <property name="layoutDirection">
-             <enum>Qt::RightToLeft</enum>
-            </property>
-            <property name="text">
-             <string>  Play music</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="start_delay_spin">
-            <property name="suffix">
-             <string> s</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="start_text">
-            <property name="layoutDirection">
-             <enum>Qt::RightToLeft</enum>
-            </property>
-            <property name="text">
-             <string>  Start after</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
          </layout>
         </item>
         <item>
@@ -168,24 +168,23 @@
         </item>
         <item>
          <layout class="QFormLayout" name="formLayout_2">
-          <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
           </property>
-          <item row="10" column="1">
-           <widget class="QPushButton" name="stop_button">
+          <property name="formAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="check_button">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
             <property name="text">
-             <string>Stop and land all</string>
+             <string>Preflight check</string>
             </property>
            </widget>
           </item>
-          <item row="9" column="1">
-           <widget class="QPushButton" name="pause_button">
-            <property name="text">
-             <string>Pause</string>
-            </property>
-           </widget>
-          </item>
-          <item row="8" column="1">
+          <item row="1" column="1">
            <widget class="QPushButton" name="start_button">
             <property name="enabled">
              <bool>true</bool>
@@ -198,13 +197,75 @@
             </property>
            </widget>
           </item>
-          <item row="7" column="1">
-           <widget class="QPushButton" name="check_button">
-            <property name="enabled">
-             <bool>true</bool>
-            </property>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="pause_button">
             <property name="text">
-             <string>Preflight check</string>
+             <string>Pause</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="Line" name="line_5">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QFormLayout" name="formLayout_5">
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="formAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="land_selected_button">
+            <property name="text">
+             <string>Land selected</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="land_all_button">
+            <property name="text">
+             <string>Land ALL</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="Line" name="line_6">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QFormLayout" name="formLayout_7">
+          <property name="formAlignment">
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="visual_land_button">
+            <property name="text">
+             <string>Visual land</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="emergency_land_button">
+            <property name="text">
+             <string>Emergency land</string>
             </property>
            </widget>
           </item>
@@ -219,8 +280,11 @@
         </item>
         <item>
          <layout class="QFormLayout" name="formLayout_3">
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
           <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           <set>Qt::AlignCenter</set>
           </property>
           <property name="verticalSpacing">
            <number>6</number>
@@ -233,19 +297,12 @@
            </widget>
           </item>
           <item row="2" column="1">
-           <widget class="QPushButton" name="disarm_button">
+           <widget class="QPushButton" name="disarm_selected_button">
             <property name="text">
              <string>Disarm selected</string>
             </property>
            </widget>
           </item>
-          <item row="0" column="1">
-           <widget class="QPushButton" name="emergency_button">
-            <property name="text">
-             <string>Emergency land</string>
-            </property>
-           </widget>
-          </item>
          </layout>
         </item>
         <item>
@@ -257,16 +314,12 @@
         </item>
         <item>
          <layout class="QFormLayout" name="formLayout_4">
-          <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="formAlignment">
+           <set>Qt::AlignCenter</set>
           </property>
-          <item row="8" column="1">
-           <widget class="QPushButton" name="land_button">
-            <property name="text">
-             <string>Land</string>
-            </property>
-           </widget>
-          </item>
           <item row="7" column="1">
            <widget class="QPushButton" name="flip_button">
             <property name="text">
@@ -341,8 +394,11 @@
         </item>
         <item>
          <layout class="QFormLayout" name="formLayout_6">
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
           <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           <set>Qt::AlignBottom|Qt::AlignHCenter</set>
           </property>
           <item row="0" column="1">
            <widget class="QPushButton" name="reboot_fcu">
@@ -379,7 +435,7 @@
      <x>0</x>
      <y>0</y>
      <width>1360</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuOptions">

Server/server_qt.py

@@ -18,7 +18,7 @@ from server_gui import Ui_MainWindow
 from server import *
 import messaging_lib as messaging
 from copter_table_models import *
-from emergency import *
+from visual_land import *
 
 import threading
 
@@ -98,12 +98,13 @@ class MainWindow(QtWidgets.QMainWindow):
         # Connect calibrating signal (testing)
         self.model.selected_calibrating_signal.connect(self.ui.check_button.setDisabled)
         self.model.selected_calibrating_signal.connect(self.ui.pause_button.setDisabled)
-        self.model.selected_calibrating_signal.connect(self.ui.stop_button.setDisabled)
-        self.model.selected_calibrating_signal.connect(self.ui.emergency_button.setDisabled)
-        self.model.selected_calibrating_signal.connect(self.ui.disarm_button.setDisabled)
+        self.model.selected_calibrating_signal.connect(self.ui.land_selected_button.setDisabled)
+        self.model.selected_calibrating_signal.connect(self.ui.land_all_button.setDisabled)
+        self.model.selected_calibrating_signal.connect(self.ui.visual_land_button.setDisabled)
+        self.model.selected_calibrating_signal.connect(self.ui.emergency_land_button.setDisabled)
+        self.model.selected_calibrating_signal.connect(self.ui.disarm_selected_button.setDisabled)
         self.model.selected_calibrating_signal.connect(self.ui.disarm_all_button.setDisabled)
         self.model.selected_calibrating_signal.connect(self.ui.leds_button.setDisabled)
-        self.model.selected_calibrating_signal.connect(self.ui.land_button.setDisabled)
         self.model.selected_calibrating_signal.connect(self.ui.reboot_fcu.setDisabled)
         self.model.selected_calibration_ready_signal.connect(self.ui.calibrate_gyro.setEnabled)
         self.model.selected_calibration_ready_signal.connect(self.ui.calibrate_level.setEnabled)
@@ -137,16 +138,19 @@ class MainWindow(QtWidgets.QMainWindow):
         self.ui.check_button.clicked.connect(self.selfcheck_selected)
         self.ui.start_button.clicked.connect(self.send_starttime_selected)
         self.ui.pause_button.clicked.connect(self.pause_resume_selected)
-        self.ui.stop_button.clicked.connect(self.land_all)
 
-        self.ui.emergency_button.clicked.connect(self.emergency)
-        self.ui.disarm_button.clicked.connect(self.disarm_selected)
+        self.ui.land_selected_button.clicked.connect(self.land_selected)
+        self.ui.land_all_button.clicked.connect(self.land_all)
+
+        self.ui.visual_land_button.clicked.connect(self.visual_land)
+        self.ui.emergency_land_button.clicked.connect(self.emergency_land_selected)
+
+        self.ui.disarm_selected_button.clicked.connect(self.disarm_selected)
         self.ui.disarm_all_button.clicked.connect(self.disarm_all)
 
         self.ui.leds_button.clicked.connect(self.test_leds_selected)
         self.ui.takeoff_button.clicked.connect(self.takeoff_selected)
         self.ui.flip_button.clicked.connect(self.flip_selected)
-        self.ui.land_button.clicked.connect(self.land_selected)
 
         self.ui.reboot_fcu.clicked.connect(self.reboot_selected)
         self.ui.calibrate_gyro.clicked.connect(self.calibrate_gyro_selected)
@@ -272,24 +276,83 @@ class MainWindow(QtWidgets.QMainWindow):
             copter.client.send_message('resume', {"time": server.time_now() + time_gap})
         self.ui.pause_button.setText('Pause')
 
+
+    @pyqtSlot()
+    def land_selected(self):
+        for copter in self.model.user_selected():
+            copter.client.send_message("land")
+
     @pyqtSlot()
     def land_all(self):
         Client.broadcast_message("land")
 
+    @pyqtSlot()
+    def visual_land(self):
+        client_row_min = 0
+        client_row_max = self.model.rowCount() - 1
+        result = -1
+        while (result != 0) and (result != 3) and (result != 4):
+            # light_green_red(min, max)
+            client_row_mid = int(math.ceil((client_row_max + client_row_min) / 2.0))
+            print(client_row_min, client_row_mid, client_row_max)
+            for row_num in range(client_row_min, client_row_mid):
+                self.model.data_contents[row_num].client \
+                    .send_message("led_fill", {"green": 255})
+            for row_num in range(client_row_mid, client_row_max + 1):
+                self.model.data_contents[row_num].client \
+                    .send_message("led_fill", {"red": 255})
+
+            Dialog = QtWidgets.QDialog()
+            ui = Ui_Dialog()
+            ui.setupUi(Dialog)
+            Dialog.show()
+            result = Dialog.exec()
+            print("Dialog result: {}".format(result))
+
+            if client_row_max != client_row_min:
+                if result == 1:
+                    for row_num in range(client_row_mid, client_row_max + 1):
+                        self.model.data_contents[row_num].client \
+                            .send_message("led_fill")
+                    client_row_max = client_row_mid - 1
+
+                elif result == 2:
+                    for row_num in range(client_row_min, client_row_mid):
+                        self.model.data_contents[row_num].client \
+                            .send_message("led_fill")
+                    client_row_min = client_row_mid
+
+        if result == 0:
+            Client.broadcast_message("led_fill")
+        elif result == 3:
+            for row_num in range(client_row_min, client_row_max + 1):
+                self.model.data_contents[row_num].client \
+                    .send_message("land")
+        elif result == 4:
+            for row_num in range(client_row_min, client_row_max + 1):
+                self.model.data_contents[row_num].client \
+                    .send_message("disarm")
+
+    @pyqtSlot()
+    def emergency_land_selected(self):
+        for copter in self.model.user_selected():
+            copter.client.send_message("emergency_land")
+
     @pyqtSlot()
     def disarm_selected(self):
         for copter in self.model.user_selected():
             copter.client.send_message("disarm")
+    
+    @pyqtSlot()
+    def disarm_all(self):
+        Client.broadcast_message("disarm")
+
 
     @pyqtSlot()
     def test_leds_selected(self):
         for copter in self.model.user_selected():
             copter.client.send_message("led_test")
 
-    @pyqtSlot()
-    def disarm_all(self):
-        Client.broadcast_message("disarm")
-
     @pyqtSlot()
     @confirmation_required("This operation will takeoff copters immediately. Proceed?")
     def takeoff_selected(self, **kwargs):
@@ -307,11 +370,6 @@ class MainWindow(QtWidgets.QMainWindow):
             if flip_checks(copter):
                 copter.client.send_message("flip")
 
-    @pyqtSlot()
-    def land_selected(self):
-        for copter in self.model.user_selected():
-            copter.client.send_message("land")
-
     @pyqtSlot()
     def reboot_selected(self):
         for copter in self.model.user_selected():
@@ -544,60 +602,12 @@ class MainWindow(QtWidgets.QMainWindow):
         logging.info("Playing music")
         self.player.play()
 
-    @pyqtSlot()
-    def emergency(self):
-        client_row_min = 0
-        client_row_max = self.model.rowCount() - 1
-        result = -1
-        while (result != 0) and (result != 3) and (result != 4):
-            # light_green_red(min, max)
-            client_row_mid = int(math.ceil((client_row_max + client_row_min) / 2.0))
-            print(client_row_min, client_row_mid, client_row_max)
-            for row_num in range(client_row_min, client_row_mid):
-                self.model.data_contents[row_num].client \
-                    .send_message("led_fill", {"green": 255})
-            for row_num in range(client_row_mid, client_row_max + 1):
-                self.model.data_contents[row_num].client \
-                    .send_message("led_fill", {"red": 255})
-
-            Dialog = QtWidgets.QDialog()
-            ui = Ui_Dialog()
-            ui.setupUi(Dialog)
-            Dialog.show()
-            result = Dialog.exec()
-            print("Dialog result: {}".format(result))
-
-            if client_row_max != client_row_min:
-                if result == 1:
-                    for row_num in range(client_row_mid, client_row_max + 1):
-                        self.model.data_contents[row_num].client \
-                            .send_message("led_fill")
-                    client_row_max = client_row_mid - 1
-
-                elif result == 2:
-                    for row_num in range(client_row_min, client_row_mid):
-                        self.model.data_contents[row_num].client \
-                            .send_message("led_fill")
-                    client_row_min = client_row_mid
-
-        if result == 0:
-            Client.broadcast_message("led_fill")
-        elif result == 3:
-            for row_num in range(client_row_min, client_row_max + 1):
-                self.model.data_contents[row_num].client \
-                    .send_message("land")
-        elif result == 4:
-            for row_num in range(client_row_min, client_row_max + 1):
-                self.model.data_contents[row_num].client \
-                    .send_message("disarm")
-
 
 @messaging.message_callback("telemetry")
 def get_telem_data(self, **kwargs):
     message = kwargs.get("value")
     window.update_table_data(self, message)
 
-
 def except_hook(cls, exception, traceback):
     sys.__excepthook__(cls, exception, traceback)