[423] | 1 | <?xml version="1.0"?>
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| 2 | <root name="FrameworkManager">
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| 3 | <TabWidget name="Main_TabWidget">
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| 4 | <Tab name="x4-multiplex">
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| 5 | <TabWidget name="UavMultiplex">
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| 6 | <Tab name="Setup">
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| 7 | <GroupBox name="x4 multiplex">
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| 8 | <ComboBox name="front left blade pitch:" value="1"/>
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| 9 | </GroupBox>
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| 10 | <GroupBox name="motor attribution">
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| 11 | <ComboBox name="front left" value="0"/>
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| 12 | <ComboBox name="front rigth" value="2"/>
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| 13 | <ComboBox name="rear left" value="1"/>
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| 14 | <ComboBox name="rear rigth" value="3"/>
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| 15 | </GroupBox>
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| 16 | <GroupBox name="bldc">
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| 17 | <Label name="flight time"/>
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| 18 | <DoubleSpinBox name="min value:" value="0.1"/>
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| 19 | <DoubleSpinBox name="max value:" value="1"/>
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| 20 | <DoubleSpinBox name="test value:" value="0.05"/>
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| 21 | <PushButton name="test motor 0" value="1"/>
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| 22 | <PushButton name="test motor 1" value="1"/>
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| 23 | <PushButton name="test motor 2" value="1"/>
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| 24 | <PushButton name="test motor 3" value="1"/>
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| 25 | </GroupBox>
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[427] | 26 | <DoubleSpinBox name="permanent trim roll" value="0"/><DoubleSpinBox name="permanent trim pitch" value="-0.05"/></Tab>
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[423] | 27 | <Tab name="Values">
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| 28 | <DataPlot1D name="front left" period="100" enabled="0"/>
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| 29 | <DataPlot1D name="front right" period="100" enabled="0"/>
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| 30 | <DataPlot1D name="rear left" period="100" enabled="0"/>
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| 31 | <DataPlot1D name="rear right" period="100" enabled="0"/>
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| 32 | </Tab>
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| 33 | </TabWidget>
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| 34 | </Tab>
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| 35 | <Tab name="imu">
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| 36 | <TabWidget name="imu">
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| 37 | <Tab name="Reglages">
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| 38 | <GroupBox name="imu"/>
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| 39 | <GroupBox name="post rotation">
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| 40 | <DoubleSpinBox name="value" value="0"/>
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| 41 | <ComboBox name="axis" value="0"/>
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| 42 | </GroupBox>
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| 43 | </Tab>
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| 44 | <Tab name="AHRS">
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| 45 | <DataPlot1D name="roll" period="100" enabled="1"/>
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| 46 | <DataPlot1D name="pitch" period="100" enabled="1"/>
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| 47 | <DataPlot1D name="yaw" period="100" enabled="1"/>
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| 48 | <DataPlot1D name="w_x" period="100" enabled="1"/>
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| 49 | <DataPlot1D name="w_y" period="100" enabled="1"/>
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| 50 | <DataPlot1D name="w_z" period="100" enabled="1"/>
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| 51 | </Tab>
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| 52 | <Tab name="Quaternion">
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| 53 | <DataPlot1D name="q0" period="100" enabled="0"/>
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| 54 | <DataPlot1D name="q1" period="100" enabled="0"/>
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| 55 | <DataPlot1D name="q2" period="100" enabled="0"/>
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| 56 | <DataPlot1D name="q3" period="100" enabled="0"/>
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| 57 | </Tab>
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| 58 | <Tab name="IMU">
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| 59 | <DataPlot1D name="acc_x" period="100" enabled="0"/>
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| 60 | <DataPlot1D name="acc_y" period="100" enabled="0"/>
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| 61 | <DataPlot1D name="acc_z" period="100" enabled="0"/>
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| 62 | <DataPlot1D name="gyr_x" period="100" enabled="0"/>
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| 63 | <DataPlot1D name="gyr_y" period="100" enabled="0"/>
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| 64 | <DataPlot1D name="gyr_z" period="100" enabled="0"/>
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| 65 | <DataPlot1D name="mag_x" period="100" enabled="0"/>
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| 66 | <DataPlot1D name="mag_y" period="100" enabled="0"/>
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| 67 | <DataPlot1D name="mag_z" period="100" enabled="0"/>
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| 68 | </Tab>
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| 69 | </TabWidget>
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| 70 | </Tab>
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| 71 | <Tab name="range finder">
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| 72 | <TabWidget name="range finder">
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| 73 | <Tab name="Reglages">
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| 74 | <GroupBox name="range finder"/>
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| 75 | <GroupBox name="Passe bas">
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| 76 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 77 | <DoubleSpinBox name="cutoff frequency" value="1"/>
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| 78 | </GroupBox>
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| 79 | <GroupBox name="Vz">
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| 80 | <DoubleSpinBox name="period, 0 for auto:" value="0"/>
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| 81 | <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
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| 82 | </GroupBox>
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| 83 | <GroupBox name="Passe bas v">
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| 84 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 85 | <DoubleSpinBox name="cutoff frequency" value="1"/>
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| 86 | </GroupBox>
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| 87 | </Tab>
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| 88 | <Tab name="Mesures">
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| 89 | <DataPlot1D name="range finder" period="100" enabled="0"/>
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| 90 | <DataPlot1D name="vz" period="100" enabled="0"/>
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| 91 | </Tab>
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| 92 | </TabWidget>
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| 93 | </Tab>
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| 94 | <Tab name="battery">
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| 95 | <GroupBox name="battery">
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| 96 | <Label name="battery"/>
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| 97 | <DoubleSpinBox name="threshold" value="14.8"/>
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| 98 | <SpinBox name="threshold time" value="10"/>
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| 99 | </GroupBox>
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| 100 | </Tab>
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| 101 | <Tab name="Dualshock3">
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| 102 | <TabWidget name="Dualshock3">
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| 103 | <Tab name="Reglages">
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| 104 | <GroupBox name="consignes joy">
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| 105 | <DoubleSpinBox name="debattement roll" value="-15"/>
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| 106 | <DoubleSpinBox name="debattement pitch" value="-15"/>
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| 107 | <DoubleSpinBox name="debattement wz" value="90"/>
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| 108 | <DoubleSpinBox name="debattement dz" value="-0.5"/>
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| 109 | <DoubleSpinBox name="trim" value="0.01"/>
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| 110 | <Label name="trim roll"/>
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[427] | 111 | <PushButton name="reset roll trim" value="1"/>
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[423] | 112 | <Label name="trim pitch"/>
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[427] | 113 | <PushButton name="reset pitch trim" value="1"/>
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[423] | 114 | </GroupBox>
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| 115 | </Tab>
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| 116 | </TabWidget>
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| 117 | </Tab>
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| 118 | <Tab name="uav">
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| 119 | <GridLayout name="buttons">
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| 120 | <PushButton name="kill"/>
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| 121 | <PushButton name="start_log"/>
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| 122 | <PushButton name="stop_log"/>
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| 123 | <PushButton name="take_off"/>
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| 124 | <PushButton name="land"/>
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[427] | 125 | <PushButton name="start_circle" value="1"/>
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[423] | 126 | <PushButton name="stop_circle"/>
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| 127 | <PushButton name="position hold"/>
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| 128 | </GridLayout>
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| 129 | <GroupBox name="takeoff/landing">
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[427] | 130 | <DoubleSpinBox name="desired takeoff altitude" value="1"/>
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[423] | 131 | <DoubleSpinBox name="desired landing altitude" value="0"/>
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| 132 | </GroupBox>
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| 133 | <GroupBox name="alt cons">
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| 134 | <DoubleSpinBox name="period, 0 for auto:" value="0"/>
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| 135 | <DoubleSpinBox name="velocity max (absolute):" value="0.5"/>
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| 136 | <DoubleSpinBox name="acceleration (absolute):" value="0.2"/>
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| 137 | </GroupBox>
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| 138 | </Tab>
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| 139 | <Tab name="control laws">
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| 140 | <TabWidget name="laws">
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| 141 | <Tab name="Setup">
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| 142 | <GroupBox name="u_roll">
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| 143 | <DoubleSpinBox name="sat ref:" value="15"/>
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| 144 | <DoubleSpinBox name="kp:" value="15"/>
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| 145 | <DoubleSpinBox name="sat dref:" value="500"/>
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| 146 | <DoubleSpinBox name="kd:" value="0.02"/>
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| 147 | <DoubleSpinBox name="sat u:" value="0.2"/>
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| 148 | </GroupBox>
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| 149 | <GroupBox name="u_pitch">
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| 150 | <DoubleSpinBox name="sat ref:" value="15"/>
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| 151 | <DoubleSpinBox name="kp:" value="15"/>
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| 152 | <DoubleSpinBox name="sat dref:" value="500"/>
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| 153 | <DoubleSpinBox name="kd:" value="0.05"/>
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| 154 | <DoubleSpinBox name="sat u:" value="0.2"/>
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| 155 | </GroupBox>
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| 156 | <GroupBox name="u_yaw">
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| 157 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 158 | <DoubleSpinBox name="kp:" value="0.6"/>
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| 159 | <DoubleSpinBox name="ki:" value="0.1"/>
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| 160 | <DoubleSpinBox name="sat i:" value="0.2"/>
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| 161 | <DoubleSpinBox name="kd:" value="0.2"/>
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| 162 | <DoubleSpinBox name="sat:" value="0.2"/>
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| 163 | </GroupBox>
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| 164 | <GroupBox name="u_z">
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| 165 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 166 | <DoubleSpinBox name="kp:" value="0.15"/>
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[427] | 167 | <DoubleSpinBox name="ki:" value="0.02"/>
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[423] | 168 | <DoubleSpinBox name="sat i:" value="0.15"/>
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[427] | 169 | <DoubleSpinBox name="kd:" value="0.07"/>
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[423] | 170 | <DoubleSpinBox name="offset g:" value="0.5"/>
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| 171 | <DoubleSpinBox name="sat:" value="1"/>
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| 172 | <DoubleSpinBox name="offset step:" value="0.0002"/>
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| 173 | </GroupBox>
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| 174 | <GroupBox name="u_x">
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| 175 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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[427] | 176 | <DoubleSpinBox name="kp:" value="0.400"/>
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[423] | 177 | <DoubleSpinBox name="ki:" value="0"/>
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| 178 | <DoubleSpinBox name="sat i:" value="0"/>
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[427] | 179 | <DoubleSpinBox name="kd:" value="0.200"/>
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| 180 | <DoubleSpinBox name="sat:" value="0.40"/>
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[423] | 181 | </GroupBox>
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| 182 | <GroupBox name="u_y">
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| 183 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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[427] | 184 | <DoubleSpinBox name="kp:" value="0.400"/>
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[423] | 185 | <DoubleSpinBox name="ki:" value="0"/>
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| 186 | <DoubleSpinBox name="sat i:" value="0"/>
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[427] | 187 | <DoubleSpinBox name="kd:" value="0.200"/>
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| 188 | <DoubleSpinBox name="sat:" value="0.40"/>
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[423] | 189 | </GroupBox>
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| 190 | </Tab>
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| 191 | <Tab name="Graphes">
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| 192 | <DataPlot1D name="u_roll" period="100" enabled="0"/>
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| 193 | <DataPlot1D name="u_pitch" period="100" enabled="0"/>
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| 194 | <DataPlot1D name="u_yaw" period="100" enabled="0"/>
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| 195 | <DataPlot1D name="u_z" period="100" enabled="1"/>
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| 196 | <DataPlot1D name="u_x" period="100" enabled="0"/>
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| 197 | <DataPlot1D name="u_y" period="100" enabled="0"/>
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| 198 | </Tab>
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| 199 | </TabWidget>
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| 200 | </Tab>
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| 201 | <Tab name="vrpn">
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| 202 | <TabWidget name="vrpn">
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| 203 | <Tab name="Reglages">
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| 204 | <GroupBox name="post rotation 1">
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| 205 | <DoubleSpinBox name="value" value="90"/>
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| 206 | <ComboBox name="axis" value="1"/>
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| 207 | </GroupBox>
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| 208 | <GroupBox name="post rotation 2">
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| 209 | <DoubleSpinBox name="value" value="90"/>
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| 210 | <ComboBox name="axis" value="0"/>
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| 211 | </GroupBox>
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| 212 | <GroupBox name="x4_0 Passe bas">
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| 213 | <DoubleSpinBox name="period, 0 for auto" value="0.01"/>
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| 214 | <DoubleSpinBox name="cutoff frequency" value="2"/>
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| 215 | </GroupBox>
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| 216 | <GroupBox name="x4_0_euler">
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| 217 | <DoubleSpinBox name="period, 0 for auto:" value="0.01"/>
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| 218 | <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
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| 219 | </GroupBox>
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| 220 | <GroupBox name="target Passe bas">
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| 221 | <DoubleSpinBox name="period, 0 for auto" value="0.01"/>
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| 222 | <DoubleSpinBox name="cutoff frequency" value="2"/>
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| 223 | </GroupBox>
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| 224 | <GroupBox name="target_euler">
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| 225 | <DoubleSpinBox name="period, 0 for auto:" value="0.01"/>
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| 226 | <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
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| 227 | </GroupBox>
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| 228 | <GroupBox name="circle">
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| 229 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 230 | <DoubleSpinBox name="R" value="2"/>
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| 231 | <DoubleSpinBox name="velocity" value="0.5"/>
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| 232 | <DoubleSpinBox name="acceleration (absolute)" value="0.1"/>
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| 233 | </GroupBox>
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| 234 | </Tab>
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| 235 | <Tab name="Mesures x4_0">
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[427] | 236 | <DataPlot1D name="x" period="100" enabled="1"/>
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| 237 | <DataPlot1D name="y" period="100" enabled="1"/>
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| 238 | <DataPlot1D name="z" period="100" enabled="1"/>
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[423] | 239 | <DataPlot1D name="vx" period="100" enabled="0"/>
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| 240 | <DataPlot1D name="vy" period="100" enabled="0"/>
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| 241 | <DataPlot1D name="vz" period="100" enabled="0"/>
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| 242 | </Tab>
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| 243 | <Tab name="Mesures (xy) x4_0">
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| 244 | <DataPlot2D name="xy" period="100" enabled="0"/>
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| 245 | </Tab>
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| 246 | <Tab name="Mesures target">
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| 247 | <DataPlot1D name="x" period="100" enabled="0"/>
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| 248 | <DataPlot1D name="y" period="100" enabled="0"/>
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| 249 | <DataPlot1D name="z" period="100" enabled="0"/>
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| 250 | <DataPlot1D name="vx" period="100" enabled="0"/>
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| 251 | <DataPlot1D name="vy" period="100" enabled="0"/>
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| 252 | <DataPlot1D name="vz" period="100" enabled="0"/>
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| 253 | </Tab>
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| 254 | <Tab name="Mesures (xy) target">
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| 255 | <DataPlot2D name="xy" period="100" enabled="0"/>
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| 256 | </Tab>
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| 257 | </TabWidget>
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| 258 | </Tab>
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[427] | 259 | <Tab name="intelaero-imu"><TabWidget name="intelaero-imu"><Tab name="Reglages"><GroupBox name="intelaero-imu"/></Tab><Tab name="AHRS"><DataPlot1D name="roll" period="100" enabled="1"/><DataPlot1D name="pitch" period="100" enabled="1"/><DataPlot1D name="yaw" period="100" enabled="1"/><DataPlot1D name="w_x" period="100" enabled="1"/><DataPlot1D name="w_y" period="100" enabled="1"/><DataPlot1D name="w_z" period="100" enabled="1"/></Tab><Tab name="Quaternion"><DataPlot1D name="q0" period="100" enabled="0"/><DataPlot1D name="q1" period="100" enabled="0"/><DataPlot1D name="q2" period="100" enabled="0"/><DataPlot1D name="q3" period="100" enabled="0"/></Tab><Tab name="IMU"><DataPlot1D name="acc_x" period="100" enabled="0"/><DataPlot1D name="acc_y" period="100" enabled="0"/><DataPlot1D name="acc_z" period="100" enabled="0"/><DataPlot1D name="gyr_x" period="100" enabled="0"/><DataPlot1D name="gyr_y" period="100" enabled="0"/><DataPlot1D name="gyr_z" period="100" enabled="0"/><DataPlot1D name="mag_x" period="100" enabled="0"/><DataPlot1D name="mag_y" period="100" enabled="0"/><DataPlot1D name="mag_z" period="100" enabled="0"/></Tab></TabWidget></Tab><Tab name="leddarone"><TabWidget name="leddarone"><Tab name="Reglages"><GroupBox name="leddarone"/><GroupBox name="Passe bas"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="4"/></GroupBox><GroupBox name="Vz"><DoubleSpinBox name="period, 0 for auto:" value="0.02"/><DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox><GroupBox name="Passe bas v"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="4"/></GroupBox><GroupBox name="KalmanAltitude"><DoubleSpinBox name="R0:" value="0.5"/><DoubleSpinBox name="Q0:" value="0.1"/><DoubleSpinBox name="Q1:" value="10"/></GroupBox></Tab><Tab name="Mesures"><DataPlot1D name="leddarone" period="100" enabled="1"/><DataPlot1D name="vz" period="100" enabled="1"/></Tab></TabWidget></Tab><Tab name="gps_ned"><DataPlot1D name="x" period="100" enabled="0"/><DataPlot1D name="y" period="100" enabled="0"/><DataPlot1D name="z" period="100" enabled="0"/><DataPlot1D name="vx" period="100" enabled="0"/><DataPlot1D name="vy" period="100" enabled="0"/><DataPlot1D name="vz" period="100" enabled="0"/></Tab></TabWidget>
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[423] | 260 | <PushButton name="save config on target (x4_0)" value="1"/>
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| 261 | </root>
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