Index: /trunk/demos/CircleFollower/simulator/build_core2_64/bin/setup_x4.xml
===================================================================
--- /trunk/demos/CircleFollower/simulator/build_core2_64/bin/setup_x4.xml	(revision 225)
+++ /trunk/demos/CircleFollower/simulator/build_core2_64/bin/setup_x4.xml	(revision 225)
@@ -0,0 +1,102 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="x4_0">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.001" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="0" name="y:"/>
+    <DoubleSpinBox value="-3.5" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="0" value_z="-1"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.2" name="mass (kg):"/>
+    <DoubleSpinBox value="0.2" name="arm length (m):"/>
+    <DoubleSpinBox value="0.001" name="k_mot:"/>
+    <DoubleSpinBox value="0.001" name="c_mot:"/>
+    <DoubleSpinBox value="0.01" name="f_air_vert:"/>
+    <DoubleSpinBox value="0.4" name="f_air_lat:"/>
+    <DoubleSpinBox value="0.006" name="j_roll:"/>
+    <DoubleSpinBox value="0.006" name="j_pitch:"/>
+    <DoubleSpinBox value="0.1" name="j_yaw:"/>
+   <SpinBox name="motor timeout:" value="100"/></Tab>
+   <Tab name="us">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0.04" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="1" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="6" name="range:"/>
+   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></Tab>
+   <Tab name="bottom camera">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="1" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="70" name="fov:"/>
+   <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/><Vector3DSpinBox name="up" value_x="1.00" value_y="0.00" value_z="0.00"/></Tab>
+   <Tab name="front camera">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="70" name="fov:"/>
+   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0"/><Vector3DSpinBox name="direction" value_x="1.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="up" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="1" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </Tab>
+  </TabWidget>
+</Tab>
+  </TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="simulator"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (simulator)" value="1"/></root>
Index: /trunk/demos/CircleFollower/simulator/build_core2_64/bin/setup_x8.xml
===================================================================
--- /trunk/demos/CircleFollower/simulator/build_core2_64/bin/setup_x8.xml	(revision 225)
+++ /trunk/demos/CircleFollower/simulator/build_core2_64/bin/setup_x8.xml	(revision 225)
@@ -0,0 +1,106 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="x8_0">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.001" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="-1.5" name="x:"/>
+    <DoubleSpinBox value="0" name="y:"/>
+    <DoubleSpinBox value="-1.2" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="0" value_z="-1"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.6" name="mass (kg):"/>
+    <DoubleSpinBox value="0.2" name="arm length (m):"/>
+    <DoubleSpinBox value="0" name="position G (m):"/>
+    <DoubleSpinBox value="0.001" name="k_mot:"/>
+    <DoubleSpinBox value="0.001" name="c_mot:"/>
+    <DoubleSpinBox value="0.01" name="f_air_vert:"/>
+    <DoubleSpinBox value="0.4" name="f_air_lat:"/>
+    <DoubleSpinBox value="0.006" name="j_roll:"/>
+    <DoubleSpinBox value="0.006" name="j_pitch:"/>
+    <DoubleSpinBox value="0.1" name="j_yaw:"/>
+    <DoubleSpinBox value="0" name="j_r:"/>
+    <DoubleSpinBox value="0.72" name="sigma:"/>
+    <DoubleSpinBox value="1" name="S:"/>
+   <SpinBox name="motor timeout:" value="100"/></Tab>
+   <Tab name="us">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0.04" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="1" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="6" name="range:"/>
+   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0" value_y="0" value_z="1"/></Tab>
+   <Tab name="bottom camera">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="1" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="70" name="fov:"/>
+   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/><Vector3DSpinBox name="up" value_x="1.00" value_y="0.00" value_z="0.00"/></Tab>
+   <Tab name="front camera">
+    <GroupBox name="position">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="direction">
+     <DoubleSpinBox value="1" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="0" name="z:"/>
+    </GroupBox>
+    <GroupBox name="up">
+     <DoubleSpinBox value="0" name="x:"/>
+     <DoubleSpinBox value="0" name="y:"/>
+     <DoubleSpinBox value="-1" name="z:"/>
+    </GroupBox>
+    <DoubleSpinBox value="70" name="fov:"/>
+   <Vector3DSpinBox name="position" value_x="0" value_y="0" value_z="0"/><Vector3DSpinBox name="direction" value_x="1.00" value_y="0.00" value_z="0.00"/><Vector3DSpinBox name="up" value_x="0.00" value_y="0.00" value_z="-1.00"/></Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="target">
+  <TabWidget name="tabs">
+   <Tab name="sampling">
+    <DoubleSpinBox value="0.02" name="Tech (s):"/>
+   </Tab>
+   <Tab name="optitrack">
+    <CheckBox value="1" name="enabled"/>
+   </Tab>
+   <Tab name="init">
+    <DoubleSpinBox value="0" name="x:"/>
+    <DoubleSpinBox value="0" name="y:"/>
+    <DoubleSpinBox value="0" name="z:"/>
+    <SpinBox value="90" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="-1.5" value_y="1" value_z="0"/></Tab>
+   <Tab name="model">
+    <DoubleSpinBox value="1.3" name="translational speed (m/s):"/>
+    <DoubleSpinBox value="60" name="rotational speed (deg/s):"/>
+   </Tab>
+  </TabWidget>
+ </Tab>
+</TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="simulator"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (simulator)" value="1"/></root>
Index: /trunk/demos/CircleFollower/simulator/build_core2_64/bin/simulator_x4.sh
===================================================================
--- /trunk/demos/CircleFollower/simulator/build_core2_64/bin/simulator_x4.sh	(revision 225)
+++ /trunk/demos/CircleFollower/simulator/build_core2_64/bin/simulator_x4.sh	(revision 225)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+. $FLAIR_ROOT/flair-dev/scripts/ubuntu_cgroup_hack.sh
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./CircleFollower_simulator_rt
+else
+	EXEC=./CircleFollower_simulator_nrt
+fi
+
+$EXEC -n x4_0 -t x4 -p 9000 -a 127.0.0.1 -x setup_x4.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: /trunk/demos/CircleFollower/simulator/build_core2_64/bin/simulator_x8.sh
===================================================================
--- /trunk/demos/CircleFollower/simulator/build_core2_64/bin/simulator_x8.sh	(revision 225)
+++ /trunk/demos/CircleFollower/simulator/build_core2_64/bin/simulator_x8.sh	(revision 225)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+. $FLAIR_ROOT/flair-dev/scripts/ubuntu_cgroup_hack.sh
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./CircleFollower_simulator_rt
+else
+	EXEC=./CircleFollower_simulator_nrt
+fi
+
+$EXEC -n x8_0 -t x8 -p 9000 -a 127.0.0.1 -x setup_x8.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
