> For the complete documentation index, see [llms.txt](https://mx-motion.gitbook.io/tutorial/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://mx-motion.gitbook.io/tutorial/readme/mx-motion-gui-python.md).

# MX Motion Python GUI

Setup and code structure of App\_Python.

This GUI is developed using Python PyQt6 framework and MAVLink protocol to communicate with IMU. The GUI provides real-time data monitoring, data logging and online parameter tunning functions. The GUI is on the branch "App\_Python" in the repo [IMU\_GUI](https://github.com/leelili444/IMU_GUI)

## Main feature

* **Real-time data monitor**\
  Receiving MAVLink messages sent from IMU, such as heartbeat, attitude or raw imu data.
* **Data logging**\
  Data will be saved into csv file with 500Hz. The frequency is hardcoded in the GUI source code.
* **Online parameter tunning**\
  Receiving and updating parameters in the IMU. The selection of filter algorithms and filters tunning will be conducted via online parameters from GUI.

## Build and start GUI

* Start "Anaconda Navigator"
* Launch "PyCharm"
* Open GUI folder in PyCharm\
  GUI folder is "IMU\_GUI", which can be downloaded from the branch App\_Python

  ```
  git clone https://github.com/leelili444/IMU_GUI.git
  ```

  Checkout App\_Python

  ```
  cd IMU_GUI
  git checkout App_Python
  ```
* Open main.py
* Push down"Shift + fn + F10" to run "main.py"\
  The GUI will pop up.

## Code folder structure

| File Name              | Extension | Type/Purpose       | Analysis                                                                                                                                           |
| ---------------------- | --------- | ------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| **flight\_data.csv**   | `.csv`    | Data File          | Stores **logged flight data** (attitude, sensor readings, etc.).                                                                                   |
| **main.py**            | `.py`     | Python Script      | The **main entry point** of the application, responsible for initialization, loading the GUI (likely `mainwindow.ui`), and starting the main loop. |
| **mainwindow\.ui**     | `.ui`     | UI Definition File | Generated by **Qt Designer**, this defines the layout and components of the main application window.                                               |
| **mavlink\_worker.py** | `.py`     | Python Module      | Handles the **MAVLink protocol** for communicating with IMU, including connection management, message parsing, and command sending.                |
| **plot\_window\.py**   | `.py`     | Python Module      | Dedicated to the logic for a **data plotting window** (e.g., plotting atitude curves).                                                             |
| **qgroundcontrol.qss** | `.qss`    | Stylesheet File    | A **Qt Style Sheet** file used to define the look and feel (theming, colors, fonts) of the GUI elements.                                           |
| **ui\_mainwindow\.py** | `.py`     | Python Module      | **Auto-generated** from `mainwindow.ui` by like `pyuic`, converting the UI definition into a usable Python class.                                  |

## GUI layout description

![Start MX Motion GUI](https://1184299001-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFbNqahavkKgWcbDQvSbS%2Fuploads%2Fgit-blob-2d7540192050809ecd9f0248c66947c2dbc32806%2Fimage-2.png?alt=media)