From e37010da599502c7a47066cb1ea33cbc7c1dfb85 Mon Sep 17 00:00:00 2001
From: Kevin <rickev20@gmail.com>
Date: Thu, 27 Nov 2025 01:33:44 -0600
Subject: [PATCH] First Drone+BCI Deployment - Added logic that prevents the
 drone from going to sleep by using a pseudo watchdog (timer instance running
 in the background) to keep the drone active (in other words, preventing it
 from landing after 15 seconds). Timer is set on a 200ms interval to run
 GUI5.hover_loop. Also updated the QML to run a takeoff function to perform
 the takeoff logic

---
 GUI5.py                | 33 +++++++++++++++++++++++++++------
 ManualDroneControl.qml |  2 +-
 2 files changed, 28 insertions(+), 7 deletions(-)

diff --git a/GUI5.py b/GUI5.py
index 123a03b3..e2d6ee87 100644
--- a/GUI5.py
+++ b/GUI5.py
@@ -4,7 +4,7 @@
 from pathlib import Path
 from PySide6.QtWidgets import QApplication,QFileDialog, QMessageBox
 from PySide6.QtQml import QQmlApplicationEngine
-from PySide6.QtCore import QObject, Signal, Slot, Property, QProcess, QUrl
+from PySide6.QtCore import QObject, Signal, Slot, Property, QProcess, QUrl, QTimer
 from pdf2image import convert_from_path
 from djitellopy import Tello
 import random
@@ -220,6 +220,13 @@ def __init__(self):
         self.drone_lock = threading.Lock()
         self.config = configparser.ConfigParser()
         self.config.optionxform = str
+
+        # Timer to send periodic hover signals ()
+        self.hover_timer = QTimer()
+        self.hover_timer.timeout.connect(self.hover_loop)
+
+        self.is_flying = False
+
         try:
             self.tello = Tello()
         except Exception as e:
@@ -242,6 +249,23 @@ def __init__(self):
         else:
             self.bcicon = None
 
+    @Slot()
+    def takeoff(self):
+        self.tello.takeoff()
+        self.connected = True
+        self.is_flying = True
+        self.hover_timer.start(200)
+        self.logMessage.emit("Hovering")
+    
+    @Slot()
+    def hover(self):
+        self.tello.send_rc_control(0, 0, 0, 0)
+        self.logMessage.emit("Hovering")
+
+    def hover_loop(self):
+        if self.is_flying:
+            self.tello.send_rc_control(0, 0, 0, 0)
+
     @Slot(str)
     def selectModel(self, model_name):
         """ Select the machine learning model """
@@ -274,6 +298,7 @@ def readMyMind(self):
         else:  # Deep Learning
             if self.current_framework == "PyTorch":
                 prediction = self.run_deep_learning_pytorch()
+                self.logMessage.emit("Getting prediction from pytorch using the deep learning model.")
             else:
                 prediction = self.run_deep_learning_tensorflow()
         self.logMessage.emit(f"Prediction received: {prediction}")
@@ -467,7 +492,7 @@ def getDroneAction(self, action):
                     self.flight_log.insert(0, f"Drone connected (Battery: {battery}%)")
                     self.flightLogUpdated.emit(self.flight_log)
                     return
-                elif self.connected:
+                elif not self.connected:
                     self.logMessage.emit("Drone not connected. Please connect first.")
                     self.flight_log.insert(0, "Command failed: Drone not connected")
                     self.flightLogUpdated.emit(self.flight_log)
@@ -536,10 +561,6 @@ def record_action(name, value=None):
                     record_action('flip_right')
                     self.logMessage.emit("Flipping right")
                     self.flight_log.insert(0, "Flipping right")
-                elif action == 'takeoff':
-                    self.tello.takeoff()
-                    self.logMessage.emit("Taking off")
-                    self.flight_log.insert(0, "Taking off")
                 elif action == 'land':
                     self.tello.land()
                     self.logMessage.emit("Landing")
diff --git a/ManualDroneControl.qml b/ManualDroneControl.qml
index 73f3326b..59ab83c6 100644
--- a/ManualDroneControl.qml
+++ b/ManualDroneControl.qml
@@ -650,7 +650,7 @@ Rectangle {
                                 anchors.fill: parent
                                 onEntered: parent.color = "white"
                                 onExited: parent.color = "#242c4d"
-                                onClicked: backend.doDroneTAction("takeoff")
+                                onClicked: backend.takeoff()
                             }
                         }