Index: trunk/demos/OpticalFlow/simulator/build_core2_64/bin/setup_x4.xml
===================================================================
--- trunk/demos/OpticalFlow/simulator/build_core2_64/bin/setup_x4.xml	(revision 236)
+++ trunk/demos/OpticalFlow/simulator/build_core2_64/bin/setup_x4.xml	(revision 236)
@@ -0,0 +1,64 @@
+<?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="0" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="-1.00"/></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:"/>
+   </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="0.00" value_y="0.00" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/></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>
+  </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/OpticalFlow/simulator/build_core2_64/bin/setup_x8.xml
===================================================================
--- trunk/demos/OpticalFlow/simulator/build_core2_64/bin/setup_x8.xml	(revision 236)
+++ trunk/demos/OpticalFlow/simulator/build_core2_64/bin/setup_x8.xml	(revision 236)
@@ -0,0 +1,68 @@
+<?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="20" name="yaw (deg):"/>
+   <Vector3DSpinBox name="position" value_x="0.00" value_y="0.00" value_z="-1.00"/></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:"/>
+   </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="0.00" value_y="0.00" value_z="0.04"/><Vector3DSpinBox name="direction" value_x="0.00" value_y="0.00" value_z="1.00"/></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>
+  </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/OpticalFlow/simulator/build_core2_64/bin/simulator_x4.sh
===================================================================
--- trunk/demos/OpticalFlow/simulator/build_core2_64/bin/simulator_x4.sh	(revision 236)
+++ trunk/demos/OpticalFlow/simulator/build_core2_64/bin/simulator_x4.sh	(revision 236)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./OpticalFlow_simulator_rt
+else
+	EXEC=./OpticalFlow_simulator_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -t x4 -a 127.0.0.1 -p 9000 -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/OpticalFlow/simulator/build_core2_64/bin/simulator_x8.sh
===================================================================
--- trunk/demos/OpticalFlow/simulator/build_core2_64/bin/simulator_x8.sh	(revision 236)
+++ trunk/demos/OpticalFlow/simulator/build_core2_64/bin/simulator_x8.sh	(revision 236)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./OpticalFlow_simulator_rt
+else
+	EXEC=./OpticalFlow_simulator_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x8_0 -t x8 -a 127.0.0.1 -p 9000 -x setup_x8.xml -o 10 -m $FLAIR_ROOT/flair-bin/models -s $FLAIR_ROOT/flair-bin/models/indoor_flight_arena.xml
Index: trunk/demos/OpticalFlow/uav/build_armv7a_neon/bin/OpticalFlow_ardrone2.sh
===================================================================
--- trunk/demos/OpticalFlow/uav/build_armv7a_neon/bin/OpticalFlow_ardrone2.sh	(revision 236)
+++ trunk/demos/OpticalFlow/uav/build_armv7a_neon/bin/OpticalFlow_ardrone2.sh	(revision 236)
@@ -0,0 +1,1 @@
+./OpticalFlow_nrt -a 192.168.147.217 -p 9000 -l /tmp -x OpticalFlow_ardrone2.xml -n Drone_0 -t ardrone2 -v ./dspcv_dsp.out
Index: trunk/demos/OpticalFlow/uav/build_armv7a_neon/bin/OpticalFlow_ardrone2.xml
===================================================================
--- trunk/demos/OpticalFlow/uav/build_armv7a_neon/bin/OpticalFlow_ardrone2.xml	(revision 236)
+++ trunk/demos/OpticalFlow/uav/build_armv7a_neon/bin/OpticalFlow_ardrone2.xml	(revision 236)
@@ -0,0 +1,267 @@
+<?xml version="1.0"?>
+<root name="FrameworkManager">
+  <TabWidget name="Main_TabWidget">
+    <Tab name="x4-multiplex">
+      <TabWidget name="UavMultiplex">
+        <Tab name="Setup">
+          <GroupBox name="x4 multiplex">
+            <ComboBox name="front left blade pitch:" value="1"/>
+          </GroupBox>
+          <GroupBox name="motor attribution">
+            <ComboBox name="front left" value="0"/>
+            <ComboBox name="front rigth" value="1"/>
+            <ComboBox name="rear left" value="2"/>
+            <ComboBox name="rear rigth" value="3"/>
+          </GroupBox>
+          <GroupBox name="bldc">
+            <Label name="flight time"/>
+            <DoubleSpinBox name="min value:" value="0.4"/>
+            <DoubleSpinBox name="max value:" value="1"/>
+            <DoubleSpinBox name="test value:" value="0.2"/>
+            <PushButton name="test motor 0"/>
+            <PushButton name="test motor 1"/>
+            <PushButton name="test motor 2"/>
+            <PushButton name="test motor 3"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Values">
+          <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>
+    </Tab>
+    <Tab name="parrot-us">
+      <TabWidget name="parrot-us">
+        <Tab name="Reglages">
+          <GroupBox name="parrot-us"/>
+          <GroupBox name="Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="5"/>
+          </GroupBox>
+          <GroupBox name="Vz">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+          </GroupBox>
+          <GroupBox name="Passe bas v">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="10"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures">
+          <DataPlot1D name="parrot-us" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="parrot-imu">
+      <TabWidget name="parrot-imu">
+        <Tab name="Reglages">
+          <GroupBox name="parrot-imu"/>
+          <GroupBox name="post rotation">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <DoubleSpinBox name="k_a[0]:" value="0.5"/>
+          <DoubleSpinBox name="k_a[1]:" value="0.5"/>
+          <DoubleSpinBox name="k_a[2]:" value="0"/>
+          <DoubleSpinBox name="k_b[0]:" value="0.01"/>
+          <DoubleSpinBox name="k_b[1]:" value="0.01"/>
+          <DoubleSpinBox name="k_b[2]:" value="0.01"/>
+        </Tab>
+        <Tab name="AHRS">
+          <DataPlot1D name="roll" period="100" enabled="0"/>
+          <DataPlot1D name="pitch" period="100" enabled="0"/>
+          <DataPlot1D name="yaw" period="100" enabled="0"/>
+          <DataPlot1D name="w_x" period="100" enabled="0"/>
+          <DataPlot1D name="w_y" period="100" enabled="0"/>
+          <DataPlot1D name="w_z" 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>
+    </Tab>
+    <Tab name="battery">
+      <GroupBox name="battery">
+        <Label name="battery"/>
+        <DoubleSpinBox name="threshold" value="10.5"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="camv">
+      <TabWidget name="camv">
+        <Tab name="Setup">
+          <GroupBox name="camv">
+            <DoubleSpinBox name="gain:" value="0.5"/>
+            <DoubleSpinBox name="exposure:" value="0.5"/>
+            <DoubleSpinBox name="bright:" value="0.5"/>
+            <DoubleSpinBox name="contrast:" value="0.5"/>
+            <DoubleSpinBox name="hue:" value="0.5"/>
+            <DoubleSpinBox name="sharpness:" value="0.5"/>
+            <DoubleSpinBox name="saturation:" value="0.5"/>
+            <CheckBox name="autogain:" value="1"/>
+            <CheckBox name="autoexposure:" value="1"/>
+            <CheckBox name="awb:" value="1"/>
+          <Label name="fps"/></GroupBox>
+          <GridLayout name="setup">
+            <GroupBox name="flux optique">
+              <GroupBox name="post rotation">
+                <DoubleSpinBox name="value" value="90"/>
+                <ComboBox name="axis" value="2"/>
+              </GroupBox>
+              <SpinBox name="max features:" value="64"/>
+            </GroupBox>
+            <GroupBox name="passe bas">
+              <DoubleSpinBox name="period, 0 for auto" value="0"/>
+              <DoubleSpinBox name="cutoff frequency" value="2"/>
+            </GroupBox>
+            <GroupBox name="sobel along x">
+              <SpinBox name="dx:" value="1"/>
+              <SpinBox name="dy:" value="0"/>
+            </GroupBox>
+            <GroupBox name="threshold">
+              <SpinBox name="threshold:" value="127"/>
+            </GroupBox>
+            <GroupBox name="houghlines">
+              <SpinBox name="full rho step:" value="4"/>
+              <DoubleSpinBox name="full theta step:" value="4"/>
+              <SpinBox name="tracking rho step:" value="4"/>
+              <DoubleSpinBox name="tracking theta step:" value="1"/>
+              <DoubleSpinBox name="tracking delta theta:" value="10"/>
+              <SpinBox name="nb points:" value="100"/>
+            </GroupBox>
+          </GridLayout>
+        </Tab>
+        <Tab name="Picture">
+          <Picture name="camv" period="500" enabled="0"/>
+          <Picture name="sobel along x" period="500" enabled="0"/>
+          <Picture name="threshold" period="500" enabled="0"/>
+          <GridLayout name="hough">
+            <DataPlot1D name="distance" period="100" enabled="1"/>
+            <DataPlot1D name="orientation" period="100" enabled="1"/>
+            <DataPlot1D name="line detected" period="100" enabled="1"/>
+          </GridLayout>
+        <DataPlot1D name="distance" period="100" enabled="1"/><DataPlot1D name="orientation" period="100" enabled="1"/><DataPlot1D name="line detected" period="100" enabled="1"/></Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="uav">
+      <GridLayout name="buttons">
+        <PushButton name="kill"/>
+        <PushButton name="start_log"/>
+        <PushButton name="stop_log"/>
+        <PushButton name="take_off"/>
+        <PushButton name="land"/>
+      </GridLayout>
+      <GroupBox name="takeoff/landing">
+        <DoubleSpinBox name="desired takeoff altitude" value="0.7"/>
+        <DoubleSpinBox name="desired landing altitude" value="0"/>
+      </GroupBox>
+      <GroupBox name="alt cons">
+        <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+        <DoubleSpinBox name="velocity max (absolute):" value="1"/>
+        <DoubleSpinBox name="acceleration (absolute):" value="0.8"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="control laws">
+      <TabWidget name="laws">
+        <Tab name="Setup">
+          <GroupBox name="u_roll">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="12"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat u:" value="0.4"/>
+          </GroupBox>
+          <GroupBox name="u_pitch">
+            <DoubleSpinBox name="sat ref:" value="20"/>
+            <DoubleSpinBox name="kp:" value="12"/>
+            <DoubleSpinBox name="sat dref:" value="1000"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat u:" value="0.4"/>
+          </GroupBox>
+          <GroupBox name="u_yaw">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0.1"/>
+            <DoubleSpinBox name="sat i:" value="0.2"/>
+            <DoubleSpinBox name="kd:" value="0.2"/>
+            <DoubleSpinBox name="sat:" value="0.5"/>
+          </GroupBox>
+          <GroupBox name="u_z">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.6"/>
+            <DoubleSpinBox name="ki:" value="0.2"/>
+            <DoubleSpinBox name="sat i:" value="0.4"/>
+            <DoubleSpinBox name="kd:" value="0.4"/>
+            <DoubleSpinBox name="offset g:" value="0.6"/>
+            <DoubleSpinBox name="sat:" value="1"/>
+            <DoubleSpinBox name="offset step:" value="0.0002"/>
+          </GroupBox>
+          <GroupBox name="u_x">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.015"/>
+            <DoubleSpinBox name="ki:" value="0.02"/>
+            <DoubleSpinBox name="sat i:" value="0.15"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0.3"/>
+          </GroupBox>
+          <GroupBox name="u_y">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.015"/>
+            <DoubleSpinBox name="ki:" value="0.02"/>
+            <DoubleSpinBox name="sat i:" value="0.15"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0.3"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Graphes">
+          <DataPlot1D name="u_roll" period="100" enabled="0"/>
+          <DataPlot1D name="u_pitch" period="100" enabled="0"/>
+          <DataPlot1D name="u_yaw" period="100" enabled="0"/>
+          <DataPlot1D name="u_z" period="100" enabled="1"/>
+          <DataPlot1D name="u_x" period="100" enabled="1"/>
+          <DataPlot1D name="u_y" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="Dualshock3">
+      <TabWidget name="Dualshock3">
+        <Tab name="Reglages">
+          <GroupBox name="consignes joy">
+            <DoubleSpinBox name="debattement roll" value="-15"/>
+            <DoubleSpinBox name="debattement pitch" value="-15"/>
+            <DoubleSpinBox name="debattement wz" value="90"/>
+            <DoubleSpinBox name="debattement dz" value="-0.5"/>
+            <DoubleSpinBox name="trim" value="0.02"/>
+            <Label name="trim roll"/>
+            <PushButton name="reset roll trim"/>
+            <Label name="trim pitch"/>
+            <PushButton name="reset pitch trim"/>
+          </GroupBox>
+          <GroupBox name="consignes fo">
+            <DoubleSpinBox name="debattement x" value="0"/>
+            <DoubleSpinBox name="debattement y" value="0"/>
+            <DoubleSpinBox name="speed step" value="5"/>
+          </GroupBox>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="flux optique">
+      <DataPlot1D name="x_velocity" period="100" enabled="1"/>
+      <DataPlot1D name="y_velocity" period="100" enabled="1"/>
+    </Tab>
+  </TabWidget>
+  <TabWidget name="App_TabWidget">
+    <Tab name="demo_line">
+      <PushButton name="save config on target" value="1"/>
+    </Tab>
+  <Tab name="Drone_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget>
+</root>
Index: trunk/demos/OpticalFlow/uav/build_core2_64/bin/setup_x4.xml
===================================================================
--- trunk/demos/OpticalFlow/uav/build_core2_64/bin/setup_x4.xml	(revision 236)
+++ trunk/demos/OpticalFlow/uav/build_core2_64/bin/setup_x4.xml	(revision 236)
@@ -0,0 +1,287 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-10" name="debattement roll"/>
+     <DoubleSpinBox value="-10" name="debattement pitch"/>
+     <DoubleSpinBox value="90" name="debattement wz"/>
+     <DoubleSpinBox value="-0.7" name="debattement dz"/>
+     <DoubleSpinBox value="0" name="trim"/>
+     <Label name="trim roll"/>
+     <PushButton value="0" name="reset roll trim"/>
+     <Label name="trim pitch"/>
+     <PushButton value="0" name="reset pitch trim"/>
+    </GroupBox>
+   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1"/><DoubleSpinBox name="debattement y" value="1"/></GroupBox></Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" name="front left blade pitch:"/>
+    </GroupBox>
+    <GroupBox name="motor attribution">
+     <ComboBox value="0" name="front left"/>
+     <ComboBox value="1" name="front rigth"/>
+     <ComboBox value="2" name="rear left"/>
+     <ComboBox value="3" name="rear rigth"/>
+    </GroupBox>
+    <GroupBox name="bldc">
+     <Label name="flight time"/>
+     <DoubleSpinBox value="0.4" name="min value:"/>
+     <DoubleSpinBox value="1" name="max value:"/>
+     <DoubleSpinBox value="0.1" name="test value:"/>
+     <PushButton value="0" name="test motor 0"/>
+     <PushButton value="0" name="test motor 1"/>
+     <PushButton value="0" name="test motor 2"/>
+     <PushButton value="0" name="test motor 3"/>
+    </GroupBox>
+    <GroupBox name="simubldc">
+     <DoubleSpinBox value="86" name="k driver:"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Values">
+    <DataPlot1D name="front left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="front right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Speeds">
+    <DataPlot1D name="front left" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="front right" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear left" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear right" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="us">
+  <TabWidget name="us">
+   <Tab name="Reglages">
+    <GroupBox name="us">
+     <SpinBox value="50" name="data rate"/>
+    </GroupBox>
+    <GroupBox name="Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Vz">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="Passe bas v">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="us" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="imu">
+  <TabWidget name="imu">
+   <Tab name="Reglages">
+    <GroupBox name="imu">
+     <SpinBox value="200" name="data rate"/>
+    </GroupBox>
+    <GroupBox name="post rotation">
+     <DoubleSpinBox value="0" name="value"/>
+     <ComboBox value="0" name="axis"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="AHRS">
+    <DataPlot1D name="roll" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_x" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_y" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  <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>
+ </Tab>
+ <Tab name="battery">
+  <GroupBox name="battery">
+   <Label name="battery"/>
+   <DoubleSpinBox value="0" name="threshold"/>
+  </GroupBox>
+ </Tab>
+ <Tab name="simu_cam_v">
+  <TabWidget name="simu_cam_v">
+   <Tab name="Setup">
+    <GroupBox name="simu_cam_v">
+     <SpinBox value="50" name="data rate"/>
+    </GroupBox>
+    <GridLayout name="setup">
+     <GroupBox name="flux optique">
+      <SpinBox value="64" name="max features:"/>
+     <GroupBox name="post rotation"><DoubleSpinBox name="value" value="90"/><ComboBox name="axis" value="2"/></GroupBox></GroupBox>
+     <GroupBox name="passe bas">
+      <DoubleSpinBox value="0" name="period, 0 for auto"/>
+      <DoubleSpinBox value="1" name="cutoff frequency"/>
+     </GroupBox>
+    <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 compens&#xE9;"><SpinBox name="gyro delay (in video frames):" value="2"/></GroupBox></GridLayout>
+   </Tab>
+   <Tab name="Picture">
+    <Picture name="simu_cam_v" period="200" enabled="0">
+     <Setup period="50" enabled="1"/>
+    </Picture>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <GridLayout name="buttons">
+   <PushButton value="0" name="kill"/>
+   <PushButton value="0" name="start_log"/>
+   <PushButton value="0" name="stop_log"/>
+   <PushButton value="1" name="take_off"/>
+   <PushButton value="0" name="land"/>
+  <PushButton name="start optical flow"/></GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </GroupBox>
+  <GroupBox name="alt cons">
+   <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+   <DoubleSpinBox value="0.5" name="velocity max (absolute):"/>
+   <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
+  </GroupBox>
+ </Tab>
+ <Tab name="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="5" name="kp:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.5" name="sat u:"/>
+    </GroupBox>
+    <GroupBox name="u_pitch">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="5" name="kp:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.5" name="sat u:"/>
+    </GroupBox>
+    <GroupBox name="u_yaw">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1" name="kp:"/>
+     <DoubleSpinBox value="0" name="ki:"/>
+     <DoubleSpinBox value="0" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.2" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_z">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.3" name="kp:"/>
+     <DoubleSpinBox value="0.2" name="ki:"/>
+     <DoubleSpinBox value="0.5" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.6" name="offset g:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+     <DoubleSpinBox value="0.0002" name="offset step:"/>
+    </GroupBox>
+    <GroupBox name="u_x">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.2" name="kp:"/>
+     <DoubleSpinBox value="0" name="ki:"/>
+     <DoubleSpinBox value="1" name="sat i:"/>
+     <DoubleSpinBox value="0.005" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_y">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.2" name="kp:"/>
+     <DoubleSpinBox value="0" name="ki:"/>
+     <DoubleSpinBox value="1" name="sat i:"/>
+     <DoubleSpinBox value="0.005" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Graphes">
+    <DataPlot1D name="u_roll" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_pitch" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_yaw" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_x" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_y" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="flux optique">
+  <DataPlot1D name="x_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+  <DataPlot1D name="y_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+ <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>
+  <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>
+<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>
Index: trunk/demos/OpticalFlow/uav/build_core2_64/bin/setup_x8.xml
===================================================================
--- trunk/demos/OpticalFlow/uav/build_core2_64/bin/setup_x8.xml	(revision 236)
+++ trunk/demos/OpticalFlow/uav/build_core2_64/bin/setup_x8.xml	(revision 236)
@@ -0,0 +1,287 @@
+<?xml version="1.0"?>
+<!DOCTYPE remote_ui_xml>
+<root name="interface">
+  <TabWidget name="Main_TabWidget">
+ <Tab name="Dualshock3">
+  <TabWidget name="Dualshock3">
+   <Tab name="Reglages">
+    <GroupBox name="dualshock3">
+     <SpinBox value="10" name="dead zone:"/>
+     <Label name="batterie"/>
+    </GroupBox>
+    <GroupBox name="consignes joy">
+     <DoubleSpinBox value="-20" name="debattement roll"/>
+     <DoubleSpinBox value="-20" name="debattement pitch"/>
+     <DoubleSpinBox value="90" name="debattement wz"/>
+     <DoubleSpinBox value="-0.7" name="debattement dz"/>
+     <DoubleSpinBox value="0" name="trim"/>
+     <Label name="trim roll"/>
+     <PushButton value="0" name="reset roll trim"/>
+     <Label name="trim pitch"/>
+     <PushButton value="0" name="reset pitch trim"/>
+    </GroupBox>
+   <GroupBox name="consignes fo"><DoubleSpinBox name="debattement x" value="-1"/><DoubleSpinBox name="debattement y" value="1"/></GroupBox></Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="roll">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="gaz">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="motors">
+  <TabWidget name="UavMultiplex">
+   <Tab name="Setup">
+    <GroupBox name="x4 multiplex">
+     <ComboBox value="0" name="front left blade pitch:"/>
+    </GroupBox>
+    <GroupBox name="motor attribution">
+     <ComboBox value="0" name="front left"/>
+     <ComboBox value="1" name="front rigth"/>
+     <ComboBox value="2" name="rear left"/>
+     <ComboBox value="3" name="rear rigth"/>
+    <ComboBox name="top front left" value="0"/><ComboBox name="top front rigth" value="1"/><ComboBox name="top rear left" value="2"/><ComboBox name="top rear rigth" value="3"/><ComboBox name="bottom front left" value="4"/><ComboBox name="bottom front rigth" value="5"/><ComboBox name="bottom rear left" value="6"/><ComboBox name="bottom rear rigth" value="7"/></GroupBox>
+    <GroupBox name="bldc">
+     <Label name="flight time"/>
+     <DoubleSpinBox value="0.4" name="min value:"/>
+     <DoubleSpinBox value="1" name="max value:"/>
+     <DoubleSpinBox value="0.1" name="test value:"/>
+     <PushButton value="0" name="test motor 0"/>
+     <PushButton value="0" name="test motor 1"/>
+     <PushButton value="0" name="test motor 2"/>
+     <PushButton value="0" name="test motor 3"/>
+    <PushButton name="test motor 4"/><PushButton name="test motor 5"/><PushButton name="test motor 6"/><PushButton name="test motor 7"/></GroupBox>
+    <GroupBox name="simubldc">
+     <DoubleSpinBox value="86" name="k driver:"/>
+    </GroupBox>
+   <GroupBox name="x8 multiplex"><ComboBox name="top front left blade pitch:" value="0"/></GroupBox></Tab>
+   <Tab name="Values">
+    <DataPlot1D name="front left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="front right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear left" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear right" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+   <Tab name="Speeds">
+    <DataPlot1D name="front left" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="front right" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear left" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="rear right" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="us">
+  <TabWidget name="us">
+   <Tab name="Reglages">
+    <GroupBox name="us">
+     <SpinBox value="50" name="data rate"/>
+    </GroupBox>
+    <GroupBox name="Passe bas">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+    <GroupBox name="Vz">
+     <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+    </GroupBox>
+    <GroupBox name="Passe bas v">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="5" name="cutoff frequency"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Mesures">
+    <DataPlot1D name="us" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="vz" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="imu">
+  <TabWidget name="imu">
+   <Tab name="Reglages">
+    <GroupBox name="imu">
+     <SpinBox value="200" name="data rate"/>
+    </GroupBox>
+    <GroupBox name="post rotation">
+     <DoubleSpinBox value="0" name="value"/>
+     <ComboBox value="0" name="axis"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="AHRS">
+    <DataPlot1D name="roll" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="pitch" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="yaw" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_x" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_y" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="w_z" period="100" enabled="0">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="battery">
+  <GroupBox name="battery">
+   <Label name="battery"/>
+   <DoubleSpinBox value="0" name="threshold"/>
+  </GroupBox>
+ </Tab>
+ <Tab name="simu_cam_v">
+  <TabWidget name="simu_cam_v">
+   <Tab name="Setup">
+    <GroupBox name="simu_cam_v">
+     <SpinBox value="50" name="data rate"/>
+    </GroupBox>
+    <GridLayout name="setup">
+     <GroupBox name="flux optique">
+      <SpinBox value="64" name="max features:"/>
+     <GroupBox name="post rotation"><DoubleSpinBox name="value" value="90"/><ComboBox name="axis" value="2"/></GroupBox></GroupBox>
+     <GroupBox name="passe bas">
+      <DoubleSpinBox value="0" name="period, 0 for auto"/>
+      <DoubleSpinBox value="1" name="cutoff frequency"/>
+     </GroupBox>
+    </GridLayout>
+   </Tab>
+   <Tab name="Picture">
+    <Picture name="simu_cam_v">
+     <Setup period="50" enabled="1"/>
+    </Picture>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="uav">
+  <GridLayout name="buttons">
+   <PushButton value="0" name="kill"/>
+   <PushButton value="0" name="start_log"/>
+   <PushButton value="0" name="stop_log"/>
+   <PushButton value="1" name="take_off"/>
+   <PushButton value="0" name="land"/>
+  </GridLayout>
+  <GroupBox name="takeoff/landing">
+   <DoubleSpinBox value="1" name="desired takeoff altitude"/>
+   <DoubleSpinBox value="0" name="desired landing altitude"/>
+  </GroupBox>
+  <GroupBox name="alt cons">
+   <DoubleSpinBox value="0" name="period, 0 for auto:"/>
+   <DoubleSpinBox value="0.5" name="velocity max (absolute):"/>
+   <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
+  </GroupBox>
+ </Tab>
+ <Tab name="control laws">
+  <TabWidget name="laws">
+   <Tab name="Setup">
+    <GroupBox name="u_roll">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="5" name="kp:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.5" name="sat u:"/>
+    </GroupBox>
+    <GroupBox name="u_pitch">
+     <DoubleSpinBox value="15" name="sat ref:"/>
+     <DoubleSpinBox value="5" name="kp:"/>
+     <DoubleSpinBox value="100" name="sat dref:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.5" name="sat u:"/>
+    </GroupBox>
+    <GroupBox name="u_yaw">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="1" name="kp:"/>
+     <DoubleSpinBox value="0" name="ki:"/>
+     <DoubleSpinBox value="0" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.2" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_z">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.3" name="kp:"/>
+     <DoubleSpinBox value="0.2" name="ki:"/>
+     <DoubleSpinBox value="0.5" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="0.6" name="offset g:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+     <DoubleSpinBox value="0.0002" name="offset step:"/>
+    </GroupBox>
+    <GroupBox name="u_x">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.03" name="kp:"/>
+     <DoubleSpinBox value="0.020" name="ki:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+    <GroupBox name="u_y">
+     <DoubleSpinBox value="0" name="period, 0 for auto"/>
+     <DoubleSpinBox value="0.03" name="kp:"/>
+     <DoubleSpinBox value="0.020" name="ki:"/>
+     <DoubleSpinBox value="0.2" name="sat i:"/>
+     <DoubleSpinBox value="0.1" name="kd:"/>
+     <DoubleSpinBox value="1" name="sat:"/>
+    </GroupBox>
+   </Tab>
+   <Tab name="Graphes">
+    <DataPlot1D name="u_roll" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_pitch" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_yaw" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_z" period="100" enabled="0">
+     <Setup period="100" enabled="0"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_x" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+    <DataPlot1D name="u_y" period="100" enabled="1">
+     <Setup period="100" enabled="1"/>
+    </DataPlot1D>
+   </Tab>
+  </TabWidget>
+ </Tab>
+ <Tab name="flux optique">
+  <DataPlot1D name="x_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+  <DataPlot1D name="y_velocity" period="100" enabled="1">
+   <Setup period="100" enabled="1"/>
+  </DataPlot1D>
+ </Tab>
+  </TabWidget>
+<TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab><Tab name="x8_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget></root>
Index: trunk/demos/OpticalFlow/uav/build_core2_64/bin/x4.sh
===================================================================
--- trunk/demos/OpticalFlow/uav/build_core2_64/bin/x4.sh	(revision 236)
+++ trunk/demos/OpticalFlow/uav/build_core2_64/bin/x4.sh	(revision 236)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./OpticalFlow_rt
+else
+	EXEC=./OpticalFlow_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -a 127.0.0.1 -p 9000 -l /tmp -x setup_x4.xml -t x4_simu -v dsp_stub
Index: trunk/demos/OpticalFlow/uav/build_core2_64/bin/x8.sh
===================================================================
--- trunk/demos/OpticalFlow/uav/build_core2_64/bin/x8.sh	(revision 236)
+++ trunk/demos/OpticalFlow/uav/build_core2_64/bin/x8.sh	(revision 236)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./OpticalFlow_rt
+else
+	EXEC=./OpticalFlow_nrt
+fi
+
+. $FLAIR_ROOT/flair-dev/scripts/distribution_specific_hack.sh
+
+$EXEC -n x8_0 -a 127.0.0.1 -p 9000 -l /tmp -x setup_x8.xml -t x8_simu -v dsp_stub
