[301] | 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="1"/>
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| 13 | <ComboBox name="rear left" value="2"/>
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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="0.4"/>
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| 19 | <DoubleSpinBox name="max value:" value="1"/>
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| 20 | <DoubleSpinBox name="test value:" value="0.2"/>
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| 21 | <PushButton name="test motor 0"/>
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| 22 | <PushButton name="test motor 1"/>
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| 23 | <PushButton name="test motor 2"/>
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| 24 | <PushButton name="test motor 3"/>
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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="parrot-us">
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| 36 | <TabWidget name="parrot-us">
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| 37 | <Tab name="Reglages">
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| 38 | <GroupBox name="parrot-us"/>
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| 39 | <GroupBox name="Passe bas">
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| 40 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 41 | <DoubleSpinBox name="cutoff frequency" value="5"/>
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| 42 | </GroupBox>
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| 43 | <GroupBox name="Vz">
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| 44 | <DoubleSpinBox name="period, 0 for auto:" value="0"/>
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[354] | 45 | <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox>
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[301] | 46 | <GroupBox name="Passe bas v">
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| 47 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 48 | <DoubleSpinBox name="cutoff frequency" value="10"/>
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| 49 | </GroupBox>
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| 50 | </Tab>
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| 51 | <Tab name="Mesures">
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| 52 | <DataPlot1D name="parrot-us" period="100" enabled="0"/>
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| 53 | <DataPlot1D name="vz" period="100" enabled="0"/>
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| 54 | </Tab>
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| 55 | </TabWidget>
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| 56 | </Tab>
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| 57 | <Tab name="parrot-imu">
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| 58 | <TabWidget name="parrot-imu">
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| 59 | <Tab name="Reglages">
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[354] | 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>
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[301] | 61 | <GroupBox name="post rotation">
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| 62 | <DoubleSpinBox name="value" value="0"/>
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| 63 | <ComboBox name="axis" value="0"/>
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| 64 | </GroupBox>
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| 65 | <DoubleSpinBox name="k_a[0]:" value="0.5"/>
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| 66 | <DoubleSpinBox name="k_a[1]:" value="0.5"/>
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| 67 | <DoubleSpinBox name="k_a[2]:" value="0"/>
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| 68 | <DoubleSpinBox name="k_b[0]:" value="0.01"/>
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| 69 | <DoubleSpinBox name="k_b[1]:" value="0.01"/>
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| 70 | <DoubleSpinBox name="k_b[2]:" value="0.01"/>
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[354] | 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>
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[301] | 72 | <Tab name="AHRS">
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| 73 | <DataPlot1D name="roll" period="100" enabled="0"/>
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| 74 | <DataPlot1D name="pitch" period="100" enabled="0"/>
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| 75 | <DataPlot1D name="yaw" period="100" enabled="0"/>
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| 76 | <DataPlot1D name="w_x" period="100" enabled="0"/>
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| 77 | <DataPlot1D name="w_y" period="100" enabled="0"/>
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| 78 | <DataPlot1D name="w_z" period="100" enabled="0"/>
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| 79 | </Tab>
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| 80 | <Tab name="IMU">
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| 81 | <DataPlot1D name="acc_x" period="100" enabled="0"/>
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| 82 | <DataPlot1D name="acc_y" period="100" enabled="0"/>
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| 83 | <DataPlot1D name="acc_z" period="100" enabled="0"/>
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| 84 | <DataPlot1D name="gyr_x" period="100" enabled="0"/>
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| 85 | <DataPlot1D name="gyr_y" period="100" enabled="0"/>
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| 86 | <DataPlot1D name="gyr_z" period="100" enabled="0"/>
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| 87 | <DataPlot1D name="mag_x" period="100" enabled="0"/>
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| 88 | <DataPlot1D name="mag_y" period="100" enabled="0"/>
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| 89 | <DataPlot1D name="mag_z" period="100" enabled="0"/>
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| 90 | </Tab>
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[354] | 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>
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[301] | 92 | </Tab>
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| 93 | <Tab name="battery">
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| 94 | <GroupBox name="battery">
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| 95 | <Label name="battery"/>
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| 96 | <DoubleSpinBox name="threshold" value="10.5"/>
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[354] | 97 | <SpinBox name="threshold time" value="10"/></GroupBox>
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[301] | 98 | </Tab>
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| 99 | <Tab name="camv">
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| 100 | <TabWidget name="camv">
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| 101 | <Tab name="Setup">
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| 102 | <GroupBox name="camv">
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| 103 | <DoubleSpinBox name="gain:" value="0.5"/>
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| 104 | <DoubleSpinBox name="exposure:" value="0.5"/>
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| 105 | <DoubleSpinBox name="bright:" value="0.5"/>
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| 106 | <DoubleSpinBox name="contrast:" value="0.5"/>
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| 107 | <DoubleSpinBox name="hue:" value="0.5"/>
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| 108 | <DoubleSpinBox name="sharpness:" value="0.5"/>
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| 109 | <DoubleSpinBox name="saturation:" value="0.5"/>
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| 110 | <CheckBox name="autogain:" value="1"/>
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| 111 | <CheckBox name="autoexposure:" value="1"/>
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| 112 | <CheckBox name="awb:" value="1"/>
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| 113 | <Label name="fps"/></GroupBox>
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| 114 | <GridLayout name="setup">
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| 115 | <GroupBox name="flux optique">
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| 116 | <GroupBox name="post rotation">
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| 117 | <DoubleSpinBox name="value" value="90"/>
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| 118 | <ComboBox name="axis" value="2"/>
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| 119 | </GroupBox>
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| 120 | <SpinBox name="max features:" value="64"/>
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| 121 | </GroupBox>
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| 122 | <GroupBox name="passe bas">
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| 123 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 124 | <DoubleSpinBox name="cutoff frequency" value="2"/>
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| 125 | </GroupBox>
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| 126 | <GroupBox name="sobel along x">
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| 127 | <SpinBox name="dx:" value="1"/>
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| 128 | <SpinBox name="dy:" value="0"/>
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| 129 | </GroupBox>
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| 130 | <GroupBox name="threshold">
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| 131 | <SpinBox name="threshold:" value="127"/>
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| 132 | </GroupBox>
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| 133 | <GroupBox name="houghlines">
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| 134 | <SpinBox name="full rho step:" value="4"/>
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| 135 | <DoubleSpinBox name="full theta step:" value="4"/>
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| 136 | <SpinBox name="tracking rho step:" value="4"/>
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| 137 | <DoubleSpinBox name="tracking theta step:" value="1"/>
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| 138 | <DoubleSpinBox name="tracking delta theta:" value="10"/>
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| 139 | <SpinBox name="nb points:" value="100"/>
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| 140 | </GroupBox>
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[354] | 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>
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[301] | 142 | </Tab>
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| 143 | <Tab name="Picture">
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| 144 | <Picture name="camv" period="500" enabled="0"/>
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| 145 | <Picture name="sobel along x" period="500" enabled="0"/>
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| 146 | <Picture name="threshold" period="500" enabled="0"/>
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| 147 | <GridLayout name="hough">
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| 148 | <DataPlot1D name="distance" period="100" enabled="1"/>
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| 149 | <DataPlot1D name="orientation" period="100" enabled="1"/>
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| 150 | <DataPlot1D name="line detected" period="100" enabled="1"/>
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| 151 | </GridLayout>
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| 152 | <DataPlot1D name="distance" period="100" enabled="1"/><DataPlot1D name="orientation" period="100" enabled="1"/><DataPlot1D name="line detected" period="100" enabled="1"/></Tab>
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| 153 | </TabWidget>
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| 154 | </Tab>
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| 155 | <Tab name="uav">
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| 156 | <GridLayout name="buttons">
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| 157 | <PushButton name="kill"/>
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| 158 | <PushButton name="start_log"/>
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| 159 | <PushButton name="stop_log"/>
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| 160 | <PushButton name="take_off"/>
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| 161 | <PushButton name="land"/>
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[354] | 162 | <PushButton name="start optical flow"/></GridLayout>
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[301] | 163 | <GroupBox name="takeoff/landing">
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| 164 | <DoubleSpinBox name="desired takeoff altitude" value="0.7"/>
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| 165 | <DoubleSpinBox name="desired landing altitude" value="0"/>
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| 166 | </GroupBox>
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| 167 | <GroupBox name="alt cons">
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| 168 | <DoubleSpinBox name="period, 0 for auto:" value="0"/>
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| 169 | <DoubleSpinBox name="velocity max (absolute):" value="1"/>
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| 170 | <DoubleSpinBox name="acceleration (absolute):" value="0.8"/>
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| 171 | </GroupBox>
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| 172 | </Tab>
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| 173 | <Tab name="control laws">
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| 174 | <TabWidget name="laws">
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| 175 | <Tab name="Setup">
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| 176 | <GroupBox name="u_roll">
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| 177 | <DoubleSpinBox name="sat ref:" value="20"/>
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| 178 | <DoubleSpinBox name="kp:" value="12"/>
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| 179 | <DoubleSpinBox name="sat dref:" value="1000"/>
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| 180 | <DoubleSpinBox name="kd:" value="0.2"/>
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| 181 | <DoubleSpinBox name="sat u:" value="0.4"/>
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| 182 | </GroupBox>
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| 183 | <GroupBox name="u_pitch">
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| 184 | <DoubleSpinBox name="sat ref:" value="20"/>
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| 185 | <DoubleSpinBox name="kp:" value="12"/>
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| 186 | <DoubleSpinBox name="sat dref:" value="1000"/>
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| 187 | <DoubleSpinBox name="kd:" value="0.2"/>
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| 188 | <DoubleSpinBox name="sat u:" value="0.4"/>
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| 189 | </GroupBox>
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| 190 | <GroupBox name="u_yaw">
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| 191 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 192 | <DoubleSpinBox name="kp:" value="0.6"/>
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| 193 | <DoubleSpinBox name="ki:" value="0.1"/>
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| 194 | <DoubleSpinBox name="sat i:" value="0.2"/>
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| 195 | <DoubleSpinBox name="kd:" value="0.2"/>
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| 196 | <DoubleSpinBox name="sat:" value="0.5"/>
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| 197 | </GroupBox>
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| 198 | <GroupBox name="u_z">
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| 199 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 200 | <DoubleSpinBox name="kp:" value="0.6"/>
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| 201 | <DoubleSpinBox name="ki:" value="0.2"/>
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| 202 | <DoubleSpinBox name="sat i:" value="0.4"/>
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| 203 | <DoubleSpinBox name="kd:" value="0.4"/>
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| 204 | <DoubleSpinBox name="offset g:" value="0.6"/>
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| 205 | <DoubleSpinBox name="sat:" value="1"/>
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| 206 | <DoubleSpinBox name="offset step:" value="0.0002"/>
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| 207 | </GroupBox>
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| 208 | <GroupBox name="u_x">
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| 209 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 210 | <DoubleSpinBox name="kp:" value="0.015"/>
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| 211 | <DoubleSpinBox name="ki:" value="0.02"/>
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| 212 | <DoubleSpinBox name="sat i:" value="0.15"/>
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| 213 | <DoubleSpinBox name="kd:" value="0"/>
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| 214 | <DoubleSpinBox name="sat:" value="0.3"/>
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| 215 | </GroupBox>
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| 216 | <GroupBox name="u_y">
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| 217 | <DoubleSpinBox name="period, 0 for auto" value="0"/>
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| 218 | <DoubleSpinBox name="kp:" value="0.015"/>
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| 219 | <DoubleSpinBox name="ki:" value="0.02"/>
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| 220 | <DoubleSpinBox name="sat i:" value="0.15"/>
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| 221 | <DoubleSpinBox name="kd:" value="0"/>
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| 222 | <DoubleSpinBox name="sat:" value="0.3"/>
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| 223 | </GroupBox>
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| 224 | </Tab>
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| 225 | <Tab name="Graphes">
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| 226 | <DataPlot1D name="u_roll" period="100" enabled="0"/>
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| 227 | <DataPlot1D name="u_pitch" period="100" enabled="0"/>
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| 228 | <DataPlot1D name="u_yaw" period="100" enabled="0"/>
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| 229 | <DataPlot1D name="u_z" period="100" enabled="1"/>
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| 230 | <DataPlot1D name="u_x" period="100" enabled="1"/>
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| 231 | <DataPlot1D name="u_y" period="100" enabled="0"/>
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| 232 | </Tab>
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| 233 | </TabWidget>
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| 234 | </Tab>
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| 235 | <Tab name="Dualshock3">
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| 236 | <TabWidget name="Dualshock3">
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| 237 | <Tab name="Reglages">
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| 238 | <GroupBox name="consignes joy">
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| 239 | <DoubleSpinBox name="debattement roll" value="-15"/>
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| 240 | <DoubleSpinBox name="debattement pitch" value="-15"/>
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| 241 | <DoubleSpinBox name="debattement wz" value="90"/>
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| 242 | <DoubleSpinBox name="debattement dz" value="-0.5"/>
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| 243 | <DoubleSpinBox name="trim" value="0.02"/>
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| 244 | <Label name="trim roll"/>
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| 245 | <PushButton name="reset roll trim"/>
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| 246 | <Label name="trim pitch"/>
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| 247 | <PushButton name="reset pitch trim"/>
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| 248 | </GroupBox>
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| 249 | <GroupBox name="consignes fo">
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| 250 | <DoubleSpinBox name="debattement x" value="0"/>
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| 251 | <DoubleSpinBox name="debattement y" value="0"/>
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| 252 | <DoubleSpinBox name="speed step" value="5"/>
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| 253 | </GroupBox>
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| 254 | </Tab>
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| 255 | </TabWidget>
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| 256 | </Tab>
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| 257 | <Tab name="flux optique">
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| 258 | <DataPlot1D name="x_velocity" period="100" enabled="1"/>
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| 259 | <DataPlot1D name="y_velocity" period="100" enabled="1"/>
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[354] | 260 | <DataPlot1D name="x speed (px/s)" period="100" enabled="0"/><DataPlot1D name="y speed (px/s)" period="100" enabled="0"/></Tab>
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| 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>
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[301] | 262 | <TabWidget name="App_TabWidget">
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| 263 | <Tab name="demo_line">
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| 264 | <PushButton name="save config on target" value="1"/>
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| 265 | </Tab>
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| 266 | <Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget>
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[354] | 267 | <PushButton name="save config on target (Drone_0)" value="1"/></root>
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