[122] | 1 | <?xml version="1.0"?>
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| 2 | <!DOCTYPE remote_ui_xml>
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| 3 | <root name="interface">
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| 4 | <TabWidget name="Main_TabWidget">
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| 5 | <Tab name="Dualshock3">
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| 6 | <TabWidget name="Dualshock3">
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| 7 | <Tab name="Reglages">
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| 8 | <GroupBox name="dualshock3">
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| 9 | <SpinBox value="10" name="dead zone:"/>
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| 10 | <Label name="batterie"/>
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| 11 | </GroupBox>
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| 12 | <GroupBox name="consignes joy">
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[143] | 13 | <DoubleSpinBox value="-10" name="debattement roll"/>
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| 14 | <DoubleSpinBox value="-10" name="debattement pitch"/>
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[122] | 15 | <DoubleSpinBox value="90" name="debattement wz"/>
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| 16 | <DoubleSpinBox value="-0.7" name="debattement dz"/>
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| 17 | <DoubleSpinBox value="0" name="trim"/>
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| 18 | <Label name="trim roll"/>
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| 19 | <PushButton value="0" name="reset roll trim"/>
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| 20 | <Label name="trim pitch"/>
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| 21 | <PushButton value="0" name="reset pitch trim"/>
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| 22 | </GroupBox>
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[154] | 23 | <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1"/><DoubleSpinBox name="debattement y" value="1"/></GroupBox></Tab>
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[122] | 24 | <Tab name="Mesures">
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| 25 | <DataPlot1D name="roll">
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| 26 | <Setup period="100" enabled="1"/>
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| 27 | </DataPlot1D>
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| 28 | <DataPlot1D name="pitch">
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| 29 | <Setup period="100" enabled="1"/>
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| 30 | </DataPlot1D>
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| 31 | <DataPlot1D name="yaw">
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| 32 | <Setup period="100" enabled="1"/>
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| 33 | </DataPlot1D>
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| 34 | <DataPlot1D name="gaz">
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| 35 | <Setup period="100" enabled="1"/>
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| 36 | </DataPlot1D>
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| 37 | </Tab>
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| 38 | </TabWidget>
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| 39 | </Tab>
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| 40 | <Tab name="motors">
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| 41 | <TabWidget name="UavMultiplex">
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| 42 | <Tab name="Setup">
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| 43 | <GroupBox name="x4 multiplex">
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| 44 | <ComboBox value="0" name="front left blade pitch:"/>
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| 45 | </GroupBox>
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| 46 | <GroupBox name="motor attribution">
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| 47 | <ComboBox value="0" name="front left"/>
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| 48 | <ComboBox value="1" name="front rigth"/>
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| 49 | <ComboBox value="2" name="rear left"/>
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| 50 | <ComboBox value="3" name="rear rigth"/>
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| 51 | </GroupBox>
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| 52 | <GroupBox name="bldc">
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| 53 | <Label name="flight time"/>
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| 54 | <DoubleSpinBox value="0.4" name="min value:"/>
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| 55 | <DoubleSpinBox value="1" name="max value:"/>
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| 56 | <DoubleSpinBox value="0.1" name="test value:"/>
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| 57 | <PushButton value="0" name="test motor 0"/>
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| 58 | <PushButton value="0" name="test motor 1"/>
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| 59 | <PushButton value="0" name="test motor 2"/>
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| 60 | <PushButton value="0" name="test motor 3"/>
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| 61 | </GroupBox>
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| 62 | <GroupBox name="simubldc">
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| 63 | <DoubleSpinBox value="86" name="k driver:"/>
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| 64 | </GroupBox>
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| 65 | </Tab>
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| 66 | <Tab name="Values">
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| 67 | <DataPlot1D name="front left" period="100" enabled="0">
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| 68 | <Setup period="100" enabled="1"/>
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| 69 | </DataPlot1D>
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| 70 | <DataPlot1D name="front right" period="100" enabled="0">
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| 71 | <Setup period="100" enabled="1"/>
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| 72 | </DataPlot1D>
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| 73 | <DataPlot1D name="rear left" period="100" enabled="0">
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| 74 | <Setup period="100" enabled="1"/>
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| 75 | </DataPlot1D>
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| 76 | <DataPlot1D name="rear right" period="100" enabled="0">
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| 77 | <Setup period="100" enabled="1"/>
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| 78 | </DataPlot1D>
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| 79 | </Tab>
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| 80 | <Tab name="Speeds">
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| 81 | <DataPlot1D name="front left" period="100" enabled="0">
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| 82 | <Setup period="100" enabled="0"/>
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| 83 | </DataPlot1D>
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| 84 | <DataPlot1D name="front right" period="100" enabled="0">
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| 85 | <Setup period="100" enabled="0"/>
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| 86 | </DataPlot1D>
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| 87 | <DataPlot1D name="rear left" period="100" enabled="0">
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| 88 | <Setup period="100" enabled="0"/>
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| 89 | </DataPlot1D>
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| 90 | <DataPlot1D name="rear right" period="100" enabled="0">
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| 91 | <Setup period="100" enabled="0"/>
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| 92 | </DataPlot1D>
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| 93 | </Tab>
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| 94 | </TabWidget>
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| 95 | </Tab>
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| 96 | <Tab name="us">
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| 97 | <TabWidget name="us">
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| 98 | <Tab name="Reglages">
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| 99 | <GroupBox name="us">
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| 100 | <SpinBox value="50" name="data rate"/>
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| 101 | </GroupBox>
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| 102 | <GroupBox name="Passe bas">
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| 103 | <DoubleSpinBox value="0" name="period, 0 for auto"/>
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| 104 | <DoubleSpinBox value="5" name="cutoff frequency"/>
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| 105 | </GroupBox>
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| 106 | <GroupBox name="Vz">
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| 107 | <DoubleSpinBox value="0" name="period, 0 for auto:"/>
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| 108 | </GroupBox>
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| 109 | <GroupBox name="Passe bas v">
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| 110 | <DoubleSpinBox value="0" name="period, 0 for auto"/>
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| 111 | <DoubleSpinBox value="5" name="cutoff frequency"/>
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| 112 | </GroupBox>
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| 113 | </Tab>
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| 114 | <Tab name="Mesures">
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| 115 | <DataPlot1D name="us" period="100" enabled="1">
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| 116 | <Setup period="100" enabled="1"/>
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| 117 | </DataPlot1D>
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| 118 | <DataPlot1D name="vz" period="100" enabled="1">
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| 119 | <Setup period="100" enabled="1"/>
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| 120 | </DataPlot1D>
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| 121 | </Tab>
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| 122 | </TabWidget>
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| 123 | </Tab>
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| 124 | <Tab name="imu">
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| 125 | <TabWidget name="imu">
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| 126 | <Tab name="Reglages">
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| 127 | <GroupBox name="imu">
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| 128 | <SpinBox value="200" name="data rate"/>
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| 129 | </GroupBox>
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| 130 | <GroupBox name="post rotation">
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| 131 | <DoubleSpinBox value="0" name="value"/>
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| 132 | <ComboBox value="0" name="axis"/>
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| 133 | </GroupBox>
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| 134 | </Tab>
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| 135 | <Tab name="AHRS">
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| 136 | <DataPlot1D name="roll" period="100" enabled="1">
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| 137 | <Setup period="100" enabled="1"/>
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| 138 | </DataPlot1D>
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| 139 | <DataPlot1D name="pitch" period="100" enabled="1">
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| 140 | <Setup period="100" enabled="1"/>
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| 141 | </DataPlot1D>
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| 142 | <DataPlot1D name="yaw" period="100" enabled="1">
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| 143 | <Setup period="100" enabled="1"/>
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| 144 | </DataPlot1D>
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| 145 | <DataPlot1D name="w_x" period="100" enabled="0">
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| 146 | <Setup period="100" enabled="1"/>
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| 147 | </DataPlot1D>
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| 148 | <DataPlot1D name="w_y" period="100" enabled="0">
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| 149 | <Setup period="100" enabled="1"/>
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| 150 | </DataPlot1D>
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| 151 | <DataPlot1D name="w_z" period="100" enabled="0">
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| 152 | <Setup period="100" enabled="1"/>
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| 153 | </DataPlot1D>
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| 154 | </Tab>
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[143] | 155 | <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>
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[122] | 156 | </Tab>
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| 157 | <Tab name="battery">
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| 158 | <GroupBox name="battery">
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| 159 | <Label name="battery"/>
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| 160 | <DoubleSpinBox value="0" name="threshold"/>
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| 161 | </GroupBox>
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| 162 | </Tab>
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| 163 | <Tab name="simu_cam_v">
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| 164 | <TabWidget name="simu_cam_v">
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| 165 | <Tab name="Setup">
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| 166 | <GroupBox name="simu_cam_v">
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| 167 | <SpinBox value="50" name="data rate"/>
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| 168 | </GroupBox>
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| 169 | <GridLayout name="setup">
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| 170 | <GroupBox name="flux optique">
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| 171 | <SpinBox value="64" name="max features:"/>
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| 172 | <GroupBox name="post rotation"><DoubleSpinBox name="value" value="90"/><ComboBox name="axis" value="2"/></GroupBox></GroupBox>
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| 173 | <GroupBox name="passe bas">
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| 174 | <DoubleSpinBox value="0" name="period, 0 for auto"/>
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| 175 | <DoubleSpinBox value="1" name="cutoff frequency"/>
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| 176 | </GroupBox>
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[156] | 177 | <GroupBox name="derivative"><DoubleSpinBox name="period, 0 for auto:" value="0.02"/></GroupBox><GroupBox name="Speed lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox><GroupBox name="Acceleration lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox><GroupBox name="flux optique compensé"><SpinBox name="gyro delay (in video frames):" value="2"/></GroupBox></GridLayout>
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[122] | 178 | </Tab>
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| 179 | <Tab name="Picture">
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[143] | 180 | <Picture name="simu_cam_v" period="200" enabled="0">
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[122] | 181 | <Setup period="50" enabled="1"/>
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| 182 | </Picture>
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| 183 | </Tab>
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| 184 | </TabWidget>
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| 185 | </Tab>
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| 186 | <Tab name="uav">
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| 187 | <GridLayout name="buttons">
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| 188 | <PushButton value="0" name="kill"/>
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| 189 | <PushButton value="0" name="start_log"/>
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| 190 | <PushButton value="0" name="stop_log"/>
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| 191 | <PushButton value="1" name="take_off"/>
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| 192 | <PushButton value="0" name="land"/>
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[143] | 193 | <PushButton name="start optical flow"/></GridLayout>
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[122] | 194 | <GroupBox name="takeoff/landing">
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| 195 | <DoubleSpinBox value="1" name="desired takeoff altitude"/>
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| 196 | <DoubleSpinBox value="0" name="desired landing altitude"/>
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| 197 | </GroupBox>
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| 198 | <GroupBox name="alt cons">
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| 199 | <DoubleSpinBox value="0" name="period, 0 for auto:"/>
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| 200 | <DoubleSpinBox value="0.5" name="velocity max (absolute):"/>
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| 201 | <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
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| 202 | </GroupBox>
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| 203 | </Tab>
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| 204 | <Tab name="control laws">
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| 205 | <TabWidget name="laws">
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| 206 | <Tab name="Setup">
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| 207 | <GroupBox name="u_roll">
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| 208 | <DoubleSpinBox value="15" name="sat ref:"/>
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| 209 | <DoubleSpinBox value="5" name="kp:"/>
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| 210 | <DoubleSpinBox value="100" name="sat dref:"/>
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| 211 | <DoubleSpinBox value="0.1" name="kd:"/>
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| 212 | <DoubleSpinBox value="0.5" name="sat u:"/>
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| 213 | </GroupBox>
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| 214 | <GroupBox name="u_pitch">
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| 215 | <DoubleSpinBox value="15" name="sat ref:"/>
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| 216 | <DoubleSpinBox value="5" name="kp:"/>
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| 217 | <DoubleSpinBox value="100" name="sat dref:"/>
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| 218 | <DoubleSpinBox value="0.1" name="kd:"/>
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| 219 | <DoubleSpinBox value="0.5" name="sat u:"/>
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| 220 | </GroupBox>
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| 221 | <GroupBox name="u_yaw">
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| 222 | <DoubleSpinBox value="0" name="period, 0 for auto"/>
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| 223 | <DoubleSpinBox value="1" name="kp:"/>
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| 224 | <DoubleSpinBox value="0" name="ki:"/>
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| 225 | <DoubleSpinBox value="0" name="sat i:"/>
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| 226 | <DoubleSpinBox value="0.1" name="kd:"/>
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| 227 | <DoubleSpinBox value="0.2" name="sat:"/>
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| 228 | </GroupBox>
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| 229 | <GroupBox name="u_z">
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| 230 | <DoubleSpinBox value="0" name="period, 0 for auto"/>
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| 231 | <DoubleSpinBox value="0.3" name="kp:"/>
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| 232 | <DoubleSpinBox value="0.2" name="ki:"/>
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| 233 | <DoubleSpinBox value="0.5" name="sat i:"/>
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| 234 | <DoubleSpinBox value="0.1" name="kd:"/>
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| 235 | <DoubleSpinBox value="0.6" name="offset g:"/>
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| 236 | <DoubleSpinBox value="1" name="sat:"/>
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| 237 | <DoubleSpinBox value="0.0002" name="offset step:"/>
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| 238 | </GroupBox>
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| 239 | <GroupBox name="u_x">
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| 240 | <DoubleSpinBox value="0" name="period, 0 for auto"/>
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[154] | 241 | <DoubleSpinBox value="0.2" name="kp:"/>
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| 242 | <DoubleSpinBox value="0" name="ki:"/>
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| 243 | <DoubleSpinBox value="1" name="sat i:"/>
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[143] | 244 | <DoubleSpinBox value="0.005" name="kd:"/>
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[122] | 245 | <DoubleSpinBox value="1" name="sat:"/>
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| 246 | </GroupBox>
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| 247 | <GroupBox name="u_y">
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| 248 | <DoubleSpinBox value="0" name="period, 0 for auto"/>
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[154] | 249 | <DoubleSpinBox value="0.2" name="kp:"/>
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| 250 | <DoubleSpinBox value="0" name="ki:"/>
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| 251 | <DoubleSpinBox value="1" name="sat i:"/>
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[143] | 252 | <DoubleSpinBox value="0.005" name="kd:"/>
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[122] | 253 | <DoubleSpinBox value="1" name="sat:"/>
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| 254 | </GroupBox>
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| 255 | </Tab>
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| 256 | <Tab name="Graphes">
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| 257 | <DataPlot1D name="u_roll" period="100" enabled="0">
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| 258 | <Setup period="100" enabled="0"/>
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| 259 | </DataPlot1D>
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| 260 | <DataPlot1D name="u_pitch" period="100" enabled="0">
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| 261 | <Setup period="100" enabled="0"/>
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| 262 | </DataPlot1D>
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| 263 | <DataPlot1D name="u_yaw" period="100" enabled="0">
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| 264 | <Setup period="100" enabled="0"/>
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| 265 | </DataPlot1D>
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| 266 | <DataPlot1D name="u_z" period="100" enabled="0">
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| 267 | <Setup period="100" enabled="0"/>
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| 268 | </DataPlot1D>
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| 269 | <DataPlot1D name="u_x" period="100" enabled="1">
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| 270 | <Setup period="100" enabled="1"/>
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| 271 | </DataPlot1D>
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| 272 | <DataPlot1D name="u_y" period="100" enabled="1">
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| 273 | <Setup period="100" enabled="1"/>
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| 274 | </DataPlot1D>
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| 275 | </Tab>
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| 276 | </TabWidget>
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| 277 | </Tab>
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| 278 | <Tab name="flux optique">
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| 279 | <DataPlot1D name="x_velocity" period="100" enabled="1">
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| 280 | <Setup period="100" enabled="1"/>
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| 281 | </DataPlot1D>
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| 282 | <DataPlot1D name="y_velocity" period="100" enabled="1">
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| 283 | <Setup period="100" enabled="1"/>
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| 284 | </DataPlot1D>
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[156] | 285 | <DataPlot1D name="x_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="y_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="x_acceleration" period="100" enabled="1"/><DataPlot1D name="y_acceleration" period="100" enabled="1"/><DataPlot1D name="x speed (px/s)" period="100" enabled="1"/><DataPlot1D name="y speed (px/s)" period="100" enabled="1"/><DataPlot1D name="x movement first point" period="100" enabled="0"/><DataPlot1D name="y movement first point" period="100" enabled="0"/></Tab>
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| 286 | <Tab name="real speed"><DataPlot1D name="x speed (m/s)" period="100" enabled="1"/><DataPlot1D name="y speed (m/s)" period="100" enabled="1"/><DataPlot1D name="x acceleration (m/s2)" period="100" enabled="0"/><DataPlot1D name="y acceleration (m/s2)" period="100" enabled="0"/></Tab></TabWidget>
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[143] | 287 | <TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x4_0)" value="1"/></root>
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