| 1 | <?xml version="1.0"?>
|
|---|
| 2 | <root name="FrameworkManager">
|
|---|
| 3 | <TabWidget name="Main_TabWidget">
|
|---|
| 4 | <Tab name="x4-multiplex">
|
|---|
| 5 | <TabWidget name="UavMultiplex">
|
|---|
| 6 | <Tab name="Setup">
|
|---|
| 7 | <GroupBox name="x4 multiplex">
|
|---|
| 8 | <ComboBox name="front left blade pitch:" value="1"/>
|
|---|
| 9 | </GroupBox>
|
|---|
| 10 | <GroupBox name="motor attribution">
|
|---|
| 11 | <ComboBox name="front left" value="0"/>
|
|---|
| 12 | <ComboBox name="front rigth" value="1"/>
|
|---|
| 13 | <ComboBox name="rear left" value="2"/>
|
|---|
| 14 | <ComboBox name="rear rigth" value="3"/>
|
|---|
| 15 | </GroupBox>
|
|---|
| 16 | <GroupBox name="bldc">
|
|---|
| 17 | <Label name="flight time"/>
|
|---|
| 18 | <DoubleSpinBox name="min value:" value="0.4"/>
|
|---|
| 19 | <DoubleSpinBox name="max value:" value="1"/>
|
|---|
| 20 | <DoubleSpinBox name="test value:" value="0.2"/>
|
|---|
| 21 | <PushButton name="test motor 0"/>
|
|---|
| 22 | <PushButton name="test motor 1"/>
|
|---|
| 23 | <PushButton name="test motor 2"/>
|
|---|
| 24 | <PushButton name="test motor 3"/>
|
|---|
| 25 | </GroupBox>
|
|---|
| 26 | </Tab>
|
|---|
| 27 | <Tab name="Values">
|
|---|
| 28 | <DataPlot1D name="front left" period="100" enabled="0"/>
|
|---|
| 29 | <DataPlot1D name="front right" period="100" enabled="0"/>
|
|---|
| 30 | <DataPlot1D name="rear left" period="100" enabled="0"/>
|
|---|
| 31 | <DataPlot1D name="rear right" period="100" enabled="0"/>
|
|---|
| 32 | </Tab>
|
|---|
| 33 | </TabWidget>
|
|---|
| 34 | </Tab>
|
|---|
| 35 | <Tab name="parrot-us">
|
|---|
| 36 | <TabWidget name="parrot-us">
|
|---|
| 37 | <Tab name="Reglages">
|
|---|
| 38 | <GroupBox name="parrot-us"/>
|
|---|
| 39 | <GroupBox name="Passe bas">
|
|---|
| 40 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
|
|---|
| 41 | <DoubleSpinBox name="cutoff frequency" value="5"/>
|
|---|
| 42 | </GroupBox>
|
|---|
| 43 | <GroupBox name="Vz">
|
|---|
| 44 | <DoubleSpinBox name="period, 0 for auto:" value="0"/>
|
|---|
| 45 | <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox>
|
|---|
| 46 | <GroupBox name="Passe bas v">
|
|---|
| 47 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
|
|---|
| 48 | <DoubleSpinBox name="cutoff frequency" value="10"/>
|
|---|
| 49 | </GroupBox>
|
|---|
| 50 | </Tab>
|
|---|
| 51 | <Tab name="Mesures">
|
|---|
| 52 | <DataPlot1D name="parrot-us" period="100" enabled="0"/>
|
|---|
| 53 | <DataPlot1D name="vz" period="100" enabled="0"/>
|
|---|
| 54 | </Tab>
|
|---|
| 55 | </TabWidget>
|
|---|
| 56 | </Tab>
|
|---|
| 57 | <Tab name="parrot-imu">
|
|---|
| 58 | <TabWidget name="parrot-imu">
|
|---|
| 59 | <Tab name="Reglages">
|
|---|
| 60 | <GroupBox name="parrot-imu"><CheckBox name="enable magnetometer (send 0 if unchecked):" value="0"/><Vector3DSpinBox name="magnetic offset (uT)" value_x="0" value_y="0" value_z="0"/><GroupBox name="magnetometers transformation"><DoubleSpinBox name="0,0" value="1"/><DoubleSpinBox name="0,1" value="0"/><DoubleSpinBox name="0,2" value="0"/><DoubleSpinBox name="1,0" value="0"/><DoubleSpinBox name="1,1" value="1"/><DoubleSpinBox name="1,2" value="0"/><DoubleSpinBox name="2,0" value="0"/><DoubleSpinBox name="2,1" value="0"/><DoubleSpinBox name="2,2" value="1"/></GroupBox></GroupBox>
|
|---|
| 61 | <GroupBox name="post rotation">
|
|---|
| 62 | <DoubleSpinBox name="value" value="0"/>
|
|---|
| 63 | <ComboBox name="axis" value="0"/>
|
|---|
| 64 | </GroupBox>
|
|---|
| 65 | <DoubleSpinBox name="k_a[0]:" value="0.5"/>
|
|---|
| 66 | <DoubleSpinBox name="k_a[1]:" value="0.5"/>
|
|---|
| 67 | <DoubleSpinBox name="k_a[2]:" value="0"/>
|
|---|
| 68 | <DoubleSpinBox name="k_b[0]:" value="0.01"/>
|
|---|
| 69 | <DoubleSpinBox name="k_b[1]:" value="0.01"/>
|
|---|
| 70 | <DoubleSpinBox name="k_b[2]:" value="0.01"/>
|
|---|
| 71 | <DoubleSpinBox name="ka[0]:" value="0.5"/><DoubleSpinBox name="ka[1]:" value="0.5"/><DoubleSpinBox name="ka[2]:" value="0"/><DoubleSpinBox name="kb[0]:" value="0.01"/><DoubleSpinBox name="kb[1]:" value="0.01"/><DoubleSpinBox name="kb[2]:" value="0.01"/><DoubleSpinBox name="km[0]:" value="0.01"/><DoubleSpinBox name="km[1]:" value="0.01"/><DoubleSpinBox name="km[2]:" value="0.01"/><Vector3DSpinBox name="ref magnetic field (uT)" value_x="20.5324001312256" value_y="0.236699998378754" value_z="43.6682014465332"/></Tab>
|
|---|
| 72 | <Tab name="AHRS">
|
|---|
| 73 | <DataPlot1D name="roll" period="100" enabled="0"/>
|
|---|
| 74 | <DataPlot1D name="pitch" period="100" enabled="0"/>
|
|---|
| 75 | <DataPlot1D name="yaw" period="100" enabled="0"/>
|
|---|
| 76 | <DataPlot1D name="w_x" period="100" enabled="0"/>
|
|---|
| 77 | <DataPlot1D name="w_y" period="100" enabled="0"/>
|
|---|
| 78 | <DataPlot1D name="w_z" period="100" enabled="0"/>
|
|---|
| 79 | </Tab>
|
|---|
| 80 | <Tab name="IMU">
|
|---|
| 81 | <DataPlot1D name="acc_x" period="100" enabled="0"/>
|
|---|
| 82 | <DataPlot1D name="acc_y" period="100" enabled="0"/>
|
|---|
| 83 | <DataPlot1D name="acc_z" period="100" enabled="0"/>
|
|---|
| 84 | <DataPlot1D name="gyr_x" period="100" enabled="0"/>
|
|---|
| 85 | <DataPlot1D name="gyr_y" period="100" enabled="0"/>
|
|---|
| 86 | <DataPlot1D name="gyr_z" period="100" enabled="0"/>
|
|---|
| 87 | <DataPlot1D name="mag_x" period="100" enabled="0"/>
|
|---|
| 88 | <DataPlot1D name="mag_y" period="100" enabled="0"/>
|
|---|
| 89 | <DataPlot1D name="mag_z" period="100" enabled="0"/>
|
|---|
| 90 | </Tab>
|
|---|
| 91 | <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></TabWidget>
|
|---|
| 92 | </Tab>
|
|---|
| 93 | <Tab name="battery">
|
|---|
| 94 | <GroupBox name="battery">
|
|---|
| 95 | <Label name="battery"/>
|
|---|
| 96 | <DoubleSpinBox name="threshold" value="10.5"/>
|
|---|
| 97 | <SpinBox name="threshold time" value="10"/></GroupBox>
|
|---|
| 98 | </Tab>
|
|---|
| 99 | <Tab name="camv">
|
|---|
| 100 | <TabWidget name="camv">
|
|---|
| 101 | <Tab name="Setup">
|
|---|
| 102 | <GroupBox name="camv">
|
|---|
| 103 | <DoubleSpinBox name="gain:" value="0.5"/>
|
|---|
| 104 | <DoubleSpinBox name="exposure:" value="0.5"/>
|
|---|
| 105 | <DoubleSpinBox name="bright:" value="0.5"/>
|
|---|
| 106 | <DoubleSpinBox name="contrast:" value="0.5"/>
|
|---|
| 107 | <DoubleSpinBox name="hue:" value="0.5"/>
|
|---|
| 108 | <DoubleSpinBox name="sharpness:" value="0.5"/>
|
|---|
| 109 | <DoubleSpinBox name="saturation:" value="0.5"/>
|
|---|
| 110 | <CheckBox name="autogain:" value="1"/>
|
|---|
| 111 | <CheckBox name="autoexposure:" value="1"/>
|
|---|
| 112 | <CheckBox name="awb:" value="1"/>
|
|---|
| 113 | <Label name="fps"/></GroupBox>
|
|---|
| 114 | <GridLayout name="setup">
|
|---|
| 115 | <GroupBox name="flux optique">
|
|---|
| 116 | <GroupBox name="post rotation">
|
|---|
| 117 | <DoubleSpinBox name="value" value="90"/>
|
|---|
| 118 | <ComboBox name="axis" value="2"/>
|
|---|
| 119 | </GroupBox>
|
|---|
| 120 | <SpinBox name="max features:" value="64"/>
|
|---|
| 121 | </GroupBox>
|
|---|
| 122 | <GroupBox name="passe bas">
|
|---|
| 123 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
|
|---|
| 124 | <DoubleSpinBox name="cutoff frequency" value="2"/>
|
|---|
| 125 | </GroupBox>
|
|---|
| 126 | <GroupBox name="sobel along x">
|
|---|
| 127 | <SpinBox name="dx:" value="1"/>
|
|---|
| 128 | <SpinBox name="dy:" value="0"/>
|
|---|
| 129 | </GroupBox>
|
|---|
| 130 | <GroupBox name="threshold">
|
|---|
| 131 | <SpinBox name="threshold:" value="127"/>
|
|---|
| 132 | </GroupBox>
|
|---|
| 133 | <GroupBox name="houghlines">
|
|---|
| 134 | <SpinBox name="full rho step:" value="4"/>
|
|---|
| 135 | <DoubleSpinBox name="full theta step:" value="4"/>
|
|---|
| 136 | <SpinBox name="tracking rho step:" value="4"/>
|
|---|
| 137 | <DoubleSpinBox name="tracking theta step:" value="1"/>
|
|---|
| 138 | <DoubleSpinBox name="tracking delta theta:" value="10"/>
|
|---|
| 139 | <SpinBox name="nb points:" value="100"/>
|
|---|
| 140 | </GroupBox>
|
|---|
| 141 | <GroupBox name="flux optique compense"><SpinBox name="gyro delay (in video frames):" value="2"/><DoubleSpinBox name="gyro gain:" value="300"/></GroupBox><GroupBox name="vitesse du Flux Optique"><DoubleSpinBox name="optical flow quality:" value="5"/><CheckBox name="Weighted average" value="1"/><CheckBox name="Time multiplication" value="1"/></GroupBox><GroupBox name="Speed lowPass"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></GroupBox><GroupBox name="derivative"><DoubleSpinBox name="period, 0 for auto:" value="0"/><DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox><GroupBox name="Acceleration lowPass"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></GroupBox></GridLayout>
|
|---|
| 142 | </Tab>
|
|---|
| 143 | <Tab name="Picture">
|
|---|
| 144 | <Picture name="camv" period="500" enabled="0"/>
|
|---|
| 145 | <Picture name="sobel along x" period="500" enabled="0"/>
|
|---|
| 146 | <Picture name="threshold" period="500" enabled="0"/>
|
|---|
| 147 | <GridLayout name="hough">
|
|---|
| 148 | <DataPlot1D name="distance" period="100" enabled="1"/>
|
|---|
| 149 | <DataPlot1D name="orientation" period="100" enabled="1"/>
|
|---|
| 150 | <DataPlot1D name="line detected" period="100" enabled="1"/>
|
|---|
| 151 | </GridLayout>
|
|---|
| 152 | <DataPlot1D name="distance" period="100" enabled="1"/><DataPlot1D name="orientation" period="100" enabled="1"/><DataPlot1D name="line detected" period="100" enabled="1"/></Tab>
|
|---|
| 153 | </TabWidget>
|
|---|
| 154 | </Tab>
|
|---|
| 155 | <Tab name="uav">
|
|---|
| 156 | <GridLayout name="buttons">
|
|---|
| 157 | <PushButton name="kill"/>
|
|---|
| 158 | <PushButton name="start_log"/>
|
|---|
| 159 | <PushButton name="stop_log"/>
|
|---|
| 160 | <PushButton name="take_off"/>
|
|---|
| 161 | <PushButton name="land"/>
|
|---|
| 162 | <PushButton name="start optical flow"/></GridLayout>
|
|---|
| 163 | <GroupBox name="takeoff/landing">
|
|---|
| 164 | <DoubleSpinBox name="desired takeoff altitude" value="0.7"/>
|
|---|
| 165 | <DoubleSpinBox name="desired landing altitude" value="0"/>
|
|---|
| 166 | </GroupBox>
|
|---|
| 167 | <GroupBox name="alt cons">
|
|---|
| 168 | <DoubleSpinBox name="period, 0 for auto:" value="0"/>
|
|---|
| 169 | <DoubleSpinBox name="velocity max (absolute):" value="1"/>
|
|---|
| 170 | <DoubleSpinBox name="acceleration (absolute):" value="0.8"/>
|
|---|
| 171 | </GroupBox>
|
|---|
| 172 | </Tab>
|
|---|
| 173 | <Tab name="control laws">
|
|---|
| 174 | <TabWidget name="laws">
|
|---|
| 175 | <Tab name="Setup">
|
|---|
| 176 | <GroupBox name="u_roll">
|
|---|
| 177 | <DoubleSpinBox name="sat ref:" value="20"/>
|
|---|
| 178 | <DoubleSpinBox name="kp:" value="12"/>
|
|---|
| 179 | <DoubleSpinBox name="sat dref:" value="1000"/>
|
|---|
| 180 | <DoubleSpinBox name="kd:" value="0.2"/>
|
|---|
| 181 | <DoubleSpinBox name="sat u:" value="0.4"/>
|
|---|
| 182 | </GroupBox>
|
|---|
| 183 | <GroupBox name="u_pitch">
|
|---|
| 184 | <DoubleSpinBox name="sat ref:" value="20"/>
|
|---|
| 185 | <DoubleSpinBox name="kp:" value="12"/>
|
|---|
| 186 | <DoubleSpinBox name="sat dref:" value="1000"/>
|
|---|
| 187 | <DoubleSpinBox name="kd:" value="0.2"/>
|
|---|
| 188 | <DoubleSpinBox name="sat u:" value="0.4"/>
|
|---|
| 189 | </GroupBox>
|
|---|
| 190 | <GroupBox name="u_yaw">
|
|---|
| 191 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
|
|---|
| 192 | <DoubleSpinBox name="kp:" value="0.6"/>
|
|---|
| 193 | <DoubleSpinBox name="ki:" value="0.1"/>
|
|---|
| 194 | <DoubleSpinBox name="sat i:" value="0.2"/>
|
|---|
| 195 | <DoubleSpinBox name="kd:" value="0.2"/>
|
|---|
| 196 | <DoubleSpinBox name="sat:" value="0.5"/>
|
|---|
| 197 | </GroupBox>
|
|---|
| 198 | <GroupBox name="u_z">
|
|---|
| 199 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
|
|---|
| 200 | <DoubleSpinBox name="kp:" value="0.6"/>
|
|---|
| 201 | <DoubleSpinBox name="ki:" value="0.2"/>
|
|---|
| 202 | <DoubleSpinBox name="sat i:" value="0.4"/>
|
|---|
| 203 | <DoubleSpinBox name="kd:" value="0.4"/>
|
|---|
| 204 | <DoubleSpinBox name="offset g:" value="0.6"/>
|
|---|
| 205 | <DoubleSpinBox name="sat:" value="1"/>
|
|---|
| 206 | <DoubleSpinBox name="offset step:" value="0.0002"/>
|
|---|
| 207 | </GroupBox>
|
|---|
| 208 | <GroupBox name="u_x">
|
|---|
| 209 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
|
|---|
| 210 | <DoubleSpinBox name="kp:" value="0.015"/>
|
|---|
| 211 | <DoubleSpinBox name="ki:" value="0.02"/>
|
|---|
| 212 | <DoubleSpinBox name="sat i:" value="0.15"/>
|
|---|
| 213 | <DoubleSpinBox name="kd:" value="0"/>
|
|---|
| 214 | <DoubleSpinBox name="sat:" value="0.3"/>
|
|---|
| 215 | </GroupBox>
|
|---|
| 216 | <GroupBox name="u_y">
|
|---|
| 217 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
|
|---|
| 218 | <DoubleSpinBox name="kp:" value="0.015"/>
|
|---|
| 219 | <DoubleSpinBox name="ki:" value="0.02"/>
|
|---|
| 220 | <DoubleSpinBox name="sat i:" value="0.15"/>
|
|---|
| 221 | <DoubleSpinBox name="kd:" value="0"/>
|
|---|
| 222 | <DoubleSpinBox name="sat:" value="0.3"/>
|
|---|
| 223 | </GroupBox>
|
|---|
| 224 | </Tab>
|
|---|
| 225 | <Tab name="Graphes">
|
|---|
| 226 | <DataPlot1D name="u_roll" period="100" enabled="0"/>
|
|---|
| 227 | <DataPlot1D name="u_pitch" period="100" enabled="0"/>
|
|---|
| 228 | <DataPlot1D name="u_yaw" period="100" enabled="0"/>
|
|---|
| 229 | <DataPlot1D name="u_z" period="100" enabled="1"/>
|
|---|
| 230 | <DataPlot1D name="u_x" period="100" enabled="1"/>
|
|---|
| 231 | <DataPlot1D name="u_y" period="100" enabled="0"/>
|
|---|
| 232 | </Tab>
|
|---|
| 233 | </TabWidget>
|
|---|
| 234 | </Tab>
|
|---|
| 235 | <Tab name="Dualshock3">
|
|---|
| 236 | <TabWidget name="Dualshock3">
|
|---|
| 237 | <Tab name="Reglages">
|
|---|
| 238 | <GroupBox name="consignes joy">
|
|---|
| 239 | <DoubleSpinBox name="debattement roll" value="-15"/>
|
|---|
| 240 | <DoubleSpinBox name="debattement pitch" value="-15"/>
|
|---|
| 241 | <DoubleSpinBox name="debattement wz" value="90"/>
|
|---|
| 242 | <DoubleSpinBox name="debattement dz" value="-0.5"/>
|
|---|
| 243 | <DoubleSpinBox name="trim" value="0.02"/>
|
|---|
| 244 | <Label name="trim roll"/>
|
|---|
| 245 | <PushButton name="reset roll trim"/>
|
|---|
| 246 | <Label name="trim pitch"/>
|
|---|
| 247 | <PushButton name="reset pitch trim"/>
|
|---|
| 248 | </GroupBox>
|
|---|
| 249 | <GroupBox name="consignes fo">
|
|---|
| 250 | <DoubleSpinBox name="debattement x" value="0"/>
|
|---|
| 251 | <DoubleSpinBox name="debattement y" value="0"/>
|
|---|
| 252 | <DoubleSpinBox name="speed step" value="5"/>
|
|---|
| 253 | </GroupBox>
|
|---|
| 254 | </Tab>
|
|---|
| 255 | </TabWidget>
|
|---|
| 256 | </Tab>
|
|---|
| 257 | <Tab name="flux optique">
|
|---|
| 258 | <DataPlot1D name="x_velocity" period="100" enabled="1"/>
|
|---|
| 259 | <DataPlot1D name="y_velocity" period="100" enabled="1"/>
|
|---|
| 260 | <DataPlot1D name="x speed (px/s)" period="100" enabled="0"/><DataPlot1D name="y speed (px/s)" period="100" enabled="0"/></Tab>
|
|---|
| 261 | <Tab name="parrot-pressure"><TabWidget name="parrot-pressure"><Tab name="Setup"><GroupBox name="parrot-pressure"/></Tab><Tab name="Mesures"><DataPlot1D name="parrot-pressure" period="100" enabled="0"/></Tab></TabWidget></Tab><Tab name="camh"><TabWidget name="camh"><Tab name="Setup"><GroupBox name="camh"><DoubleSpinBox name="gain:" value="0.50"/><DoubleSpinBox name="exposure:" value="0.50"/><DoubleSpinBox name="bright:" value="0.50"/><DoubleSpinBox name="contrast:" value="0.50"/><DoubleSpinBox name="hue:" value="0.50"/><DoubleSpinBox name="sharpness:" value="0.50"/><DoubleSpinBox name="saturation:" value="0.50"/><CheckBox name="autogain:" value="0"/><CheckBox name="autoexposure:" value="0"/><CheckBox name="awb:" value="0"/><Label name="fps"/></GroupBox><GridLayout name="setup"/></Tab></TabWidget></Tab><Tab name="real speed"><DataPlot1D name="x speed (m/s)" period="100" enabled="0"/><DataPlot1D name="y speed (m/s)" period="100" enabled="0"/><DataPlot1D name="x acceleration (m/s2)" period="100" enabled="0"/><DataPlot1D name="y acceleration (m/s2)" period="100" enabled="0"/></Tab></TabWidget>
|
|---|
| 262 | <TabWidget name="App_TabWidget">
|
|---|
| 263 | <Tab name="demo_line">
|
|---|
| 264 | <PushButton name="save config on target" value="1"/>
|
|---|
| 265 | </Tab>
|
|---|
| 266 | <Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget>
|
|---|
| 267 | <PushButton name="save config on target (Drone_0)" value="1"/></root>
|
|---|
