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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26 | </Tab>
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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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111 | <PushButton name="reset roll trim"/>
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112 | <Label name="trim pitch"/>
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113 | <PushButton name="reset pitch trim"/>
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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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125 | <PushButton name="start_circle"/>
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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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130 | <DoubleSpinBox name="desired takeoff altitude" value="1.0"/>
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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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167 | <DoubleSpinBox name="ki:" value="0.020"/>
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168 | <DoubleSpinBox name="sat i:" value="0.15"/>
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169 | <DoubleSpinBox name="kd:" value="0.070"/>
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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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176 | <DoubleSpinBox name="kp:" value="0"/>
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177 | <DoubleSpinBox name="ki:" value="0"/>
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178 | <DoubleSpinBox name="sat i:" value="0"/>
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179 | <DoubleSpinBox name="kd:" value="0"/>
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180 | <DoubleSpinBox name="sat:" value="0"/>
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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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184 | <DoubleSpinBox name="kp:" value="0"/>
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185 | <DoubleSpinBox name="ki:" value="0"/>
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186 | <DoubleSpinBox name="sat i:" value="0"/>
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187 | <DoubleSpinBox name="kd:" value="0"/>
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188 | <DoubleSpinBox name="sat:" value="0"/>
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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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236 | <DataPlot1D name="x" period="100" enabled="0"/>
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237 | <DataPlot1D name="y" period="100" enabled="0"/>
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238 | <DataPlot1D name="z" period="100" enabled="0"/>
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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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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></TabWidget>
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260 | <PushButton name="save config on target (x4_0)" value="1"/>
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261 | </root>
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