source: flair-src/trunk/demos/OpticalFlow/uav/build_x86_64/bin/setup_x4.xml@ 143

Last change on this file since 143 was 143, checked in by Bayard Gildas, 5 years ago

Plop

File size: 11.3 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="-10" name="debattement roll"/>
14 <DoubleSpinBox value="-10" 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 </GroupBox>
23 <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1.0"/><DoubleSpinBox name="debattement y" value="1.0"/></GroupBox></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="0"/>
83 </DataPlot1D>
84 <DataPlot1D name="front right" period="100" enabled="0">
85 <Setup period="100" enabled="0"/>
86 </DataPlot1D>
87 <DataPlot1D name="rear left" period="100" enabled="0">
88 <Setup period="100" enabled="0"/>
89 </DataPlot1D>
90 <DataPlot1D name="rear right" period="100" enabled="0">
91 <Setup period="100" enabled="0"/>
92 </DataPlot1D>
93 </Tab>
94 </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 </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 </Tab>
114 <Tab name="Mesures">
115 <DataPlot1D name="us" period="100" enabled="1">
116 <Setup period="100" enabled="1"/>
117 </DataPlot1D>
118 <DataPlot1D name="vz" period="100" enabled="1">
119 <Setup period="100" enabled="1"/>
120 </DataPlot1D>
121 </Tab>
122 </TabWidget>
123 </Tab>
124 <Tab name="imu">
125 <TabWidget name="imu">
126 <Tab name="Reglages">
127 <GroupBox name="imu">
128 <SpinBox value="200" name="data rate"/>
129 </GroupBox>
130 <GroupBox name="post rotation">
131 <DoubleSpinBox value="0" name="value"/>
132 <ComboBox value="0" name="axis"/>
133 </GroupBox>
134 </Tab>
135 <Tab name="AHRS">
136 <DataPlot1D name="roll" period="100" enabled="1">
137 <Setup period="100" enabled="1"/>
138 </DataPlot1D>
139 <DataPlot1D name="pitch" period="100" enabled="1">
140 <Setup period="100" enabled="1"/>
141 </DataPlot1D>
142 <DataPlot1D name="yaw" period="100" enabled="1">
143 <Setup period="100" enabled="1"/>
144 </DataPlot1D>
145 <DataPlot1D name="w_x" period="100" enabled="0">
146 <Setup period="100" enabled="1"/>
147 </DataPlot1D>
148 <DataPlot1D name="w_y" period="100" enabled="0">
149 <Setup period="100" enabled="1"/>
150 </DataPlot1D>
151 <DataPlot1D name="w_z" period="100" enabled="0">
152 <Setup period="100" enabled="1"/>
153 </DataPlot1D>
154 </Tab>
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>
156 </Tab>
157 <Tab name="battery">
158 <GroupBox name="battery">
159 <Label name="battery"/>
160 <DoubleSpinBox value="0" name="threshold"/>
161 </GroupBox>
162 </Tab>
163 <Tab name="simu_cam_v">
164 <TabWidget name="simu_cam_v">
165 <Tab name="Setup">
166 <GroupBox name="simu_cam_v">
167 <SpinBox value="50" name="data rate"/>
168 </GroupBox>
169 <GridLayout name="setup">
170 <GroupBox name="flux optique">
171 <SpinBox value="64" name="max features:"/>
172 <GroupBox name="post rotation"><DoubleSpinBox name="value" value="90"/><ComboBox name="axis" value="2"/></GroupBox></GroupBox>
173 <GroupBox name="passe bas">
174 <DoubleSpinBox value="0" name="period, 0 for auto"/>
175 <DoubleSpinBox value="1" name="cutoff frequency"/>
176 </GroupBox>
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="2.00"/></GroupBox><GroupBox name="Acceleration lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2.00"/></GroupBox></GridLayout>
178 </Tab>
179 <Tab name="Picture">
180 <Picture name="simu_cam_v" period="200" enabled="0">
181 <Setup period="50" enabled="1"/>
182 </Picture>
183 </Tab>
184 </TabWidget>
185 </Tab>
186 <Tab name="uav">
187 <GridLayout name="buttons">
188 <PushButton value="0" name="kill"/>
189 <PushButton value="0" name="start_log"/>
190 <PushButton value="0" name="stop_log"/>
191 <PushButton value="1" name="take_off"/>
192 <PushButton value="0" name="land"/>
193 <PushButton name="start optical flow"/></GridLayout>
194 <GroupBox name="takeoff/landing">
195 <DoubleSpinBox value="1" name="desired takeoff altitude"/>
196 <DoubleSpinBox value="0" name="desired landing altitude"/>
197 </GroupBox>
198 <GroupBox name="alt cons">
199 <DoubleSpinBox value="0" name="period, 0 for auto:"/>
200 <DoubleSpinBox value="0.5" name="velocity max (absolute):"/>
201 <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
202 </GroupBox>
203 </Tab>
204 <Tab name="control laws">
205 <TabWidget name="laws">
206 <Tab name="Setup">
207 <GroupBox name="u_roll">
208 <DoubleSpinBox value="15" name="sat ref:"/>
209 <DoubleSpinBox value="5" name="kp:"/>
210 <DoubleSpinBox value="100" name="sat dref:"/>
211 <DoubleSpinBox value="0.1" name="kd:"/>
212 <DoubleSpinBox value="0.5" name="sat u:"/>
213 </GroupBox>
214 <GroupBox name="u_pitch">
215 <DoubleSpinBox value="15" name="sat ref:"/>
216 <DoubleSpinBox value="5" name="kp:"/>
217 <DoubleSpinBox value="100" name="sat dref:"/>
218 <DoubleSpinBox value="0.1" name="kd:"/>
219 <DoubleSpinBox value="0.5" name="sat u:"/>
220 </GroupBox>
221 <GroupBox name="u_yaw">
222 <DoubleSpinBox value="0" name="period, 0 for auto"/>
223 <DoubleSpinBox value="1" name="kp:"/>
224 <DoubleSpinBox value="0" name="ki:"/>
225 <DoubleSpinBox value="0" name="sat i:"/>
226 <DoubleSpinBox value="0.1" name="kd:"/>
227 <DoubleSpinBox value="0.2" name="sat:"/>
228 </GroupBox>
229 <GroupBox name="u_z">
230 <DoubleSpinBox value="0" name="period, 0 for auto"/>
231 <DoubleSpinBox value="0.3" name="kp:"/>
232 <DoubleSpinBox value="0.2" name="ki:"/>
233 <DoubleSpinBox value="0.5" name="sat i:"/>
234 <DoubleSpinBox value="0.1" name="kd:"/>
235 <DoubleSpinBox value="0.6" name="offset g:"/>
236 <DoubleSpinBox value="1" name="sat:"/>
237 <DoubleSpinBox value="0.0002" name="offset step:"/>
238 </GroupBox>
239 <GroupBox name="u_x">
240 <DoubleSpinBox value="0" name="period, 0 for auto"/>
241 <DoubleSpinBox value="0.20" name="kp:"/>
242 <DoubleSpinBox value="0.00" name="ki:"/>
243 <DoubleSpinBox value="1.0" name="sat i:"/>
244 <DoubleSpinBox value="0.005" name="kd:"/>
245 <DoubleSpinBox value="1" name="sat:"/>
246 </GroupBox>
247 <GroupBox name="u_y">
248 <DoubleSpinBox value="0" name="period, 0 for auto"/>
249 <DoubleSpinBox value="0.20" name="kp:"/>
250 <DoubleSpinBox value="0.00" name="ki:"/>
251 <DoubleSpinBox value="1.0" name="sat i:"/>
252 <DoubleSpinBox value="0.005" name="kd:"/>
253 <DoubleSpinBox value="1" name="sat:"/>
254 </GroupBox>
255 </Tab>
256 <Tab name="Graphes">
257 <DataPlot1D name="u_roll" period="100" enabled="0">
258 <Setup period="100" enabled="0"/>
259 </DataPlot1D>
260 <DataPlot1D name="u_pitch" period="100" enabled="0">
261 <Setup period="100" enabled="0"/>
262 </DataPlot1D>
263 <DataPlot1D name="u_yaw" period="100" enabled="0">
264 <Setup period="100" enabled="0"/>
265 </DataPlot1D>
266 <DataPlot1D name="u_z" period="100" enabled="0">
267 <Setup period="100" enabled="0"/>
268 </DataPlot1D>
269 <DataPlot1D name="u_x" period="100" enabled="1">
270 <Setup period="100" enabled="1"/>
271 </DataPlot1D>
272 <DataPlot1D name="u_y" period="100" enabled="1">
273 <Setup period="100" enabled="1"/>
274 </DataPlot1D>
275 </Tab>
276 </TabWidget>
277 </Tab>
278 <Tab name="flux optique">
279 <DataPlot1D name="x_velocity" period="100" enabled="1">
280 <Setup period="100" enabled="1"/>
281 </DataPlot1D>
282 <DataPlot1D name="y_velocity" period="100" enabled="1">
283 <Setup period="100" enabled="1"/>
284 </DataPlot1D>
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"/></Tab>
286 </TabWidget>
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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