source: flair-src/trunk/demos/MixedReality/uav_simu/build_core2_64/bin/setup_x4.xml@ 292

Last change on this file since 292 was 292, checked in by Sanahuja Guillaume, 3 years ago

add mixed reality demo

File size: 14.3 KB
Line 
1<?xml version="1.0"?>
2<!DOCTYPE remote_ui_xml>
3<root name="interface">
4<TabWidget name="Main_TabWidget">
5 <Tab name="Dualshock3">
6 <TabWidget name="Dualshock3">
7 <Tab name="Reglages">
8 <GroupBox name="Dualshock3">
9 <SpinBox value="10" name="dead zone:"/>
10 <Label name="batterie"/>
11 </GroupBox>
12 <GroupBox name="consignes joy">
13 <DoubleSpinBox value="-20" name="debattement roll"/>
14 <DoubleSpinBox value="-20" name="debattement pitch"/>
15 <DoubleSpinBox value="90" name="debattement wz"/>
16 <DoubleSpinBox value="-0.7" name="debattement dz"/>
17 <DoubleSpinBox value="0" name="trim"/>
18 <Label name="trim roll"/>
19 <PushButton value="0" name="reset roll trim"/>
20 <Label name="trim pitch"/>
21 <PushButton value="0" name="reset pitch trim"/>
22 <DoubleSpinBox name="debattement wz" value="90"/></GroupBox>
23 </Tab>
24 <Tab name="Mesures">
25 <DataPlot1D name="roll">
26 <Setup period="100" enabled="1"/>
27 </DataPlot1D>
28 <DataPlot1D name="pitch">
29 <Setup period="100" enabled="1"/>
30 </DataPlot1D>
31 <DataPlot1D name="yaw">
32 <Setup period="100" enabled="1"/>
33 </DataPlot1D>
34 <DataPlot1D name="gaz">
35 <Setup period="100" enabled="1"/>
36 </DataPlot1D>
37 </Tab>
38 </TabWidget>
39 </Tab>
40 <Tab name="motors">
41 <TabWidget name="UavMultiplex">
42 <Tab name="Setup">
43 <GroupBox name="x4 multiplex">
44 <ComboBox value="0" name="front left blade pitch:"/>
45 </GroupBox>
46 <GroupBox name="motor attribution">
47 <ComboBox value="0" name="front left"/>
48 <ComboBox value="1" name="front rigth"/>
49 <ComboBox value="2" name="rear left"/>
50 <ComboBox value="3" name="rear rigth"/>
51 </GroupBox>
52 <GroupBox name="bldc">
53 <Label name="flight time"/>
54 <DoubleSpinBox value="0.4" name="min value:"/>
55 <DoubleSpinBox value="1" name="max value:"/>
56 <DoubleSpinBox value="0.1" name="test value:"/>
57 <PushButton value="0" name="test motor 0"/>
58 <PushButton value="0" name="test motor 1"/>
59 <PushButton value="0" name="test motor 2"/>
60 <PushButton value="0" name="test motor 3"/>
61 </GroupBox>
62 <GroupBox name="simubldc">
63 <DoubleSpinBox value="86" name="k driver:"/>
64 </GroupBox>
65 </Tab>
66 <Tab name="Values">
67 <DataPlot1D name="front left" period="100" enabled="0">
68 <Setup period="100" enabled="1"/>
69 </DataPlot1D>
70 <DataPlot1D name="front right" period="100" enabled="0">
71 <Setup period="100" enabled="1"/>
72 </DataPlot1D>
73 <DataPlot1D name="rear left" period="100" enabled="0">
74 <Setup period="100" enabled="1"/>
75 </DataPlot1D>
76 <DataPlot1D name="rear right" period="100" enabled="0">
77 <Setup period="100" enabled="1"/>
78 </DataPlot1D>
79 </Tab>
80 <Tab name="Speeds">
81 <DataPlot1D name="front left" period="100" enabled="0">
82 <Setup period="100" enabled="1"/>
83 </DataPlot1D>
84 <DataPlot1D name="front right" period="100" enabled="0">
85 <Setup period="100" enabled="1"/>
86 </DataPlot1D>
87 <DataPlot1D name="rear left" period="100" enabled="0">
88 <Setup period="100" enabled="1"/>
89 </DataPlot1D>
90 <DataPlot1D name="rear right" period="100" enabled="0">
91 <Setup period="100" enabled="1"/>
92 </DataPlot1D>
93 </Tab>
94 <Tab name="Currents"><DataPlot1D name="front left" period="100" enabled="0"/><DataPlot1D name="front right" period="100" enabled="0"/><DataPlot1D name="rear left" period="100" enabled="0"/><DataPlot1D name="rear right" period="100" enabled="0"/></Tab></TabWidget>
95 </Tab>
96 <Tab name="us">
97 <TabWidget name="us">
98 <Tab name="Reglages">
99 <GroupBox name="us">
100 <SpinBox value="50" name="data rate"/>
101 </GroupBox>
102 <GroupBox name="Passe bas">
103 <DoubleSpinBox value="0" name="period, 0 for auto"/>
104 <DoubleSpinBox value="5" name="cutoff frequency"/>
105 </GroupBox>
106 <GroupBox name="Vz">
107 <DoubleSpinBox value="0" name="period, 0 for auto:"/>
108 <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox>
109 <GroupBox name="Passe bas v">
110 <DoubleSpinBox value="0" name="period, 0 for auto"/>
111 <DoubleSpinBox value="5" name="cutoff frequency"/>
112 </GroupBox>
113 <GroupBox name="alt cons">
114 <DoubleSpinBox value="0" name="period, 0 for auto:"/>
115 <DoubleSpinBox value="0.5" name="velocity max (absolute):"/>
116 <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
117 </GroupBox>
118 <GroupBox name="decollage">
119 <DoubleSpinBox value="1" name="alt decollage"/>
120 <DoubleSpinBox value="0" name="alt atterissage"/>
121 </GroupBox>
122 </Tab>
123 <Tab name="Mesures">
124 <DataPlot1D name="us" period="100" enabled="0">
125 <Setup period="100" enabled="1"/>
126 </DataPlot1D>
127 <DataPlot1D name="vz" period="100" enabled="0">
128 <Setup period="100" enabled="1"/>
129 </DataPlot1D>
130 </Tab>
131 </TabWidget>
132 </Tab>
133 <Tab name="imu">
134 <TabWidget name="imu">
135 <Tab name="Reglages">
136 <GroupBox name="imu">
137 <SpinBox value="200" name="data rate"/>
138 </GroupBox>
139 <GroupBox name="post rotation">
140 <DoubleSpinBox value="0" name="value"/>
141 <ComboBox value="0" name="axis"/>
142 </GroupBox>
143 </Tab>
144 <Tab name="AHRS">
145 <DataPlot1D name="roll" period="100" enabled="0">
146 <Setup period="100" enabled="1"/>
147 </DataPlot1D>
148 <DataPlot1D name="pitch" period="100" enabled="0">
149 <Setup period="100" enabled="1"/>
150 </DataPlot1D>
151 <DataPlot1D name="yaw" period="100" enabled="0">
152 <Setup period="100" enabled="1"/>
153 </DataPlot1D>
154 <DataPlot1D name="w_x" period="100" enabled="0">
155 <Setup period="100" enabled="1"/>
156 </DataPlot1D>
157 <DataPlot1D name="w_y" period="100" enabled="0">
158 <Setup period="100" enabled="1"/>
159 </DataPlot1D>
160 <DataPlot1D name="w_z" period="100" enabled="0">
161 <Setup period="100" enabled="1"/>
162 </DataPlot1D>
163 </Tab>
164 <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>
165 </Tab>
166 <Tab name="battery">
167 <GroupBox name="battery">
168 <Label name="battery"/>
169 <DoubleSpinBox value="10" name="threshold"/>
170 <SpinBox name="threshold time" value="10"/></GroupBox>
171 </Tab>
172 <Tab name="simu_cam_v">
173 <TabWidget name="simu_cam_v">
174 <Tab name="Setup">
175 <GroupBox name="simu_cam_v">
176 <SpinBox value="50" name="data rate"/>
177 </GroupBox>
178 <GridLayout name="setup"/>
179 </Tab>
180 </TabWidget>
181 </Tab>
182 <Tab name="vrpn">
183 <TabWidget name="vrpn">
184 <Tab name="Reglages">
185 <GroupBox name="post rotation 1">
186 <DoubleSpinBox value="0" name="value"/>
187 <ComboBox value="0" name="axis"/>
188 </GroupBox>
189 <GroupBox name="post rotation 2">
190 <DoubleSpinBox value="0" name="value"/>
191 <ComboBox value="0" name="axis"/>
192 </GroupBox>
193 <GroupBox name="Drone_0 Passe bas">
194 <DoubleSpinBox value="0" name="period, 0 for auto"/>
195 <DoubleSpinBox value="2" name="cutoff frequency"/>
196 </GroupBox>
197 <GroupBox name="Drone_0_euler">
198 <DoubleSpinBox value="0" name="period, 0 for auto:"/>
199 </GroupBox>
200 <GroupBox name="target Passe bas">
201 <DoubleSpinBox value="0" name="period, 0 for auto"/>
202 <DoubleSpinBox value="2" name="cutoff frequency"/>
203 </GroupBox>
204 <GroupBox name="target_euler">
205 <DoubleSpinBox value="0" name="period, 0 for auto:"/>
206 <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox>
207 <GroupBox name="circle">
208 <DoubleSpinBox value="0" name="period, 0 for auto"/>
209 <DoubleSpinBox value="1.5" name="R"/>
210 <DoubleSpinBox value="1" name="velocity"/>
211 <DoubleSpinBox value="0.1" name="acceleration (absolute)"/>
212 </GroupBox>
213 <GroupBox name="Drone_1 Passe bas"><DoubleSpinBox name="period, 0 for auto" value="0"/><DoubleSpinBox name="cutoff frequency" value="1"/></GroupBox><GroupBox name="Drone_1_euler"><DoubleSpinBox name="period, 0 for auto:" value="0"/><DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox></Tab>
214 <Tab name="Mesures Drone_0">
215 <DataPlot1D name="x" period="100" enabled="0">
216 <Setup period="100" enabled="1"/>
217 </DataPlot1D>
218 <DataPlot1D name="y" period="100" enabled="0">
219 <Setup period="100" enabled="1"/>
220 </DataPlot1D>
221 <DataPlot1D name="z" period="100" enabled="0">
222 <Setup period="100" enabled="1"/>
223 </DataPlot1D>
224 <DataPlot1D name="vx" period="100" enabled="0">
225 <Setup period="100" enabled="1"/>
226 </DataPlot1D>
227 <DataPlot1D name="vy" period="100" enabled="0">
228 <Setup period="100" enabled="1"/>
229 </DataPlot1D>
230 <DataPlot1D name="vz" period="100" enabled="0">
231 <Setup period="100" enabled="1"/>
232 </DataPlot1D>
233 </Tab>
234 <Tab name="Mesures (xy) Drone_0">
235 <DataPlot2D name="xy" period="100" enabled="0">
236 <Setup period="100" enabled="1"/>
237 </DataPlot2D>
238 </Tab>
239 <Tab name="Mesures target">
240 <DataPlot1D name="x" period="100" enabled="0">
241 <Setup period="100" enabled="1"/>
242 </DataPlot1D>
243 <DataPlot1D name="y" period="100" enabled="0">
244 <Setup period="100" enabled="1"/>
245 </DataPlot1D>
246 <DataPlot1D name="z" period="100" enabled="0">
247 <Setup period="100" enabled="0"/>
248 </DataPlot1D>
249 <DataPlot1D name="vx" period="100" enabled="0">
250 <Setup period="100" enabled="1"/>
251 </DataPlot1D>
252 <DataPlot1D name="vy" period="100" enabled="0">
253 <Setup period="100" enabled="1"/>
254 </DataPlot1D>
255 <DataPlot1D name="vz" period="100" enabled="0">
256 <Setup period="100" enabled="0"/>
257 </DataPlot1D>
258 </Tab>
259 <Tab name="Mesures (xy) target">
260 <DataPlot2D name="xy" period="100" enabled="0">
261 <Setup period="100" enabled="1"/>
262 </DataPlot2D>
263 </Tab>
264 <Tab name="Mesures Drone_1"><DataPlot1D name="x" period="100" enabled="1"/><DataPlot1D name="y" period="100" enabled="1"/><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><Tab name="Mesures (xy) Drone_1"><DataPlot2D name="xy" period="100" enabled="0"/></Tab></TabWidget>
265 </Tab>
266 <Tab name="uav">
267 <GridLayout name="buttons">
268 <PushButton value="0" name="kill"/>
269 <PushButton value="0" name="start_log"/>
270 <PushButton value="0" name="stop_log"/>
271 <PushButton value="0" name="take_off"/>
272 <PushButton value="0" name="land"/>
273 <PushButton value="0" name="start_circle"/>
274 <PushButton value="0" name="stop_circle"/>
275 <PushButton name="position hold"/></GridLayout>
276 <GroupBox name="takeoff/landing">
277 <DoubleSpinBox value="1" name="desired takeoff altitude"/>
278 <DoubleSpinBox value="0" name="desired landing altitude"/>
279 </GroupBox>
280 <GroupBox name="alt cons">
281 <DoubleSpinBox value="0" name="period, 0 for auto:"/>
282 <DoubleSpinBox value="0.5" name="velocity max (absolute):"/>
283 <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
284 </GroupBox>
285 </Tab>
286 <Tab name="control laws">
287 <TabWidget name="laws">
288 <Tab name="Setup">
289 <GroupBox name="u_roll">
290 <DoubleSpinBox value="15" name="sat ref:"/>
291 <DoubleSpinBox value="15" name="kp:"/>
292 <DoubleSpinBox value="100" name="sat dref:"/>
293 <DoubleSpinBox value="0.1" name="kd:"/>
294 <DoubleSpinBox value="0.5" name="sat u:"/>
295 </GroupBox>
296 <GroupBox name="u_pitch">
297 <DoubleSpinBox value="15" name="sat ref:"/>
298 <DoubleSpinBox value="15" name="kp:"/>
299 <DoubleSpinBox value="100" name="sat dref:"/>
300 <DoubleSpinBox value="0.1" name="kd:"/>
301 <DoubleSpinBox value="0.5" name="sat u:"/>
302 </GroupBox>
303 <GroupBox name="u_yaw">
304 <DoubleSpinBox value="0" name="period, 0 for auto"/>
305 <DoubleSpinBox value="1" name="kp:"/>
306 <DoubleSpinBox value="0" name="ki:"/>
307 <DoubleSpinBox value="0" name="sat i:"/>
308 <DoubleSpinBox value="0.1" name="kd:"/>
309 <DoubleSpinBox value="0.2" name="sat:"/>
310 </GroupBox>
311 <GroupBox name="u_z">
312 <DoubleSpinBox value="0" name="period, 0 for auto"/>
313 <DoubleSpinBox value="0.3" name="kp:"/>
314 <DoubleSpinBox value="0.2" name="ki:"/>
315 <DoubleSpinBox value="0.5" name="sat i:"/>
316 <DoubleSpinBox value="0.1" name="kd:"/>
317 <DoubleSpinBox value="0.6" name="offset g:"/>
318 <DoubleSpinBox value="1" name="sat:"/>
319 <DoubleSpinBox value="0.0002" name="offset step:"/>
320 </GroupBox>
321 <GroupBox name="u_x">
322 <DoubleSpinBox value="0" name="period, 0 for auto"/>
323 <DoubleSpinBox value="0.2" name="kp:"/>
324 <DoubleSpinBox value="0" name="ki:"/>
325 <DoubleSpinBox value="0" name="sat i:"/>
326 <DoubleSpinBox value="0.2" name="kd:"/>
327 <DoubleSpinBox value="1" name="sat:"/>
328 </GroupBox>
329 <GroupBox name="u_y">
330 <DoubleSpinBox value="0" name="period, 0 for auto"/>
331 <DoubleSpinBox value="0.2" name="kp:"/>
332 <DoubleSpinBox value="0" name="ki:"/>
333 <DoubleSpinBox value="0" name="sat i:"/>
334 <DoubleSpinBox value="0.2" name="kd:"/>
335 <DoubleSpinBox value="1" name="sat:"/>
336 </GroupBox>
337 </Tab>
338 <Tab name="Graphes">
339 <DataPlot1D name="u_roll" period="100" enabled="0">
340 <Setup period="100" enabled="1"/>
341 </DataPlot1D>
342 <DataPlot1D name="u_pitch" period="100" enabled="0">
343 <Setup period="100" enabled="1"/>
344 </DataPlot1D>
345 <DataPlot1D name="u_yaw" period="100" enabled="0">
346 <Setup period="100" enabled="1"/>
347 </DataPlot1D>
348 <DataPlot1D name="u_z" period="100" enabled="0">
349 <Setup period="100" enabled="1"/>
350 </DataPlot1D>
351 <DataPlot1D name="u_x" period="100" enabled="0">
352 <Setup period="100" enabled="0"/>
353 </DataPlot1D>
354 <DataPlot1D name="u_y" period="100" enabled="0">
355 <Setup period="100" enabled="0"/>
356 </DataPlot1D>
357 </Tab>
358 </TabWidget>
359 </Tab>
360<Tab name="simu_cam_h"><TabWidget name="simu_cam_h"><Tab name="Setup"><GroupBox name="simu_cam_h"/><GridLayout name="setup"/></Tab></TabWidget></Tab></TabWidget>
361<TabWidget name="App_TabWidget"><Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (Drone_0)" value="1"/><PushButton name="save config on target (Drone_1)" value="1"/></root>
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