4 files changed, 189 insertions, 22 deletions
diff --git a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui
index 4a5624cf..cb9362ca 100644
--- a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui
+++ b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>216</width>
-    <height>71</height>
+    <width>195</width>
+    <height>224</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -26,25 +26,170 @@
   <property name="autoFillBackground">
    <bool>false</bool>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
-    <widget class="QLabel" name="label_5">
-     <property name="text">
-      <string>Port</string>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
      </property>
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Port</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QSpinBox" name="spinPortNumber">
+        <property name="minimum">
+         <number>0</number>
+        </property>
+        <property name="maximum">
+         <number>65535</number>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
-   <item row="0" column="1">
-    <widget class="QSpinBox" name="spinPortNumber">
-     <property name="minimum">
-      <number>0</number>
-     </property>
-     <property name="maximum">
-      <number>65535</number>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Add to axis</string>
      </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>yaw</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QComboBox" name="add_yaw">
+        <item>
+         <property name="text">
+          <string>0</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>+90</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>-90</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>+180</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>-180</string>
+         </property>
+        </item>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_8">
+        <property name="text">
+         <string>pitch</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_10">
+        <property name="text">
+         <string>roll</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QComboBox" name="add_pitch">
+        <item>
+         <property name="text">
+          <string>0</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>+90</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>-90</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>+180</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>-180</string>
+         </property>
+        </item>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QComboBox" name="add_roll">
+        <item>
+         <property name="text">
+          <string>0</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>+90</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>-90</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>+180</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>-180</string>
+         </property>
+        </item>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
-   <item row="1" column="1">
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="standardButtons">
       <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
@@ -53,9 +198,6 @@
    </item>
   </layout>
  </widget>
- <tabstops>
-  <tabstop>spinPortNumber</tabstop>
- </tabstops>
  <resources/>
  <connections/>
  <slots>
diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
index c900fb67..ab8c8c86 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
@@ -16,9 +16,11 @@ void FTNoIR_Tracker::run() {
     for (;;) {
         if (should_quit)
             break;
-        QMutexLocker foo(&mutex);
-        while (sock.hasPendingDatagrams()) {
-            sock.readDatagram((char * ) last_recv_pose, sizeof(double[6]));
+        {
+            QMutexLocker foo(&mutex);
+            while (sock.hasPendingDatagrams()) {
+                sock.readDatagram((char * ) last_recv_pose, sizeof(double[6]));
+            }
         }
         msleep(1);
     }
@@ -34,6 +36,22 @@ void FTNoIR_Tracker::data(double *data)
     QMutexLocker foo(&mutex);
     for (int i = 0; i < 6; i++)
         data[i] = last_recv_pose[i];
+    
+    int values[] = {
+        0,
+        90,
+        -90,
+        180,
+        -180,
+    };
+    int indices[] = {
+        s.add_yaw,
+        s.add_pitch,
+        s.add_roll,
+    };
+    
+    for (int i = 0; i < 3; i++)
+        data[Yaw + i] += values[indices[i]];
 }
 
 extern "C" OPENTRACK_EXPORT ITracker* GetConstructor()
diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
index 51b5d9ab..160e4352 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
@@ -9,9 +9,13 @@ using namespace options;
 
 struct settings : opts {
     value<int> port;
+    value<int> add_yaw, add_pitch, add_roll;
     settings() :
         opts("udp-tracker"),
-        port(b, "port", 4242)
+        port(b, "port", 4242),
+        add_yaw(b, "add-yaw", 0),
+        add_pitch(b, "add-pitch", 0),
+        add_roll(b, "add-roll", 0)
     {}
 };
 
diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp
index eb5abcd8..bab88db0 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp
@@ -9,6 +9,9 @@ TrackerControls::TrackerControls()
 	connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
 
     tie_setting(s.port, ui.spinPortNumber);
+    tie_setting(s.add_yaw, ui.add_yaw);
+    tie_setting(s.add_pitch, ui.add_pitch);
+    tie_setting(s.add_roll, ui.add_roll);
 }
 
 void TrackerControls::doOK() {