Index: trunk/demos/CircleFollower/uav/resources/core2-64/setup_x4_intelaero.xml
===================================================================
--- trunk/demos/CircleFollower/uav/resources/core2-64/setup_x4_intelaero.xml	(revision 423)
+++ trunk/demos/CircleFollower/uav/resources/core2-64/setup_x4_intelaero.xml	(revision 423)
@@ -0,0 +1,261 @@
+<?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="2"/>
+            <ComboBox name="rear left" value="1"/>
+            <ComboBox name="rear rigth" value="3"/>
+          </GroupBox>
+          <GroupBox name="bldc">
+            <Label name="flight time"/>
+            <DoubleSpinBox name="min value:" value="0.1"/>
+            <DoubleSpinBox name="max value:" value="1"/>
+            <DoubleSpinBox name="test value:" value="0.05"/>
+            <PushButton name="test motor 0" value="1"/>
+            <PushButton name="test motor 1" value="1"/>
+            <PushButton name="test motor 2" value="1"/>
+            <PushButton name="test motor 3" value="1"/>
+          </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="imu">
+      <TabWidget name="imu">
+        <Tab name="Reglages">
+          <GroupBox name="imu"/>
+          <GroupBox name="post rotation">
+            <DoubleSpinBox name="value" value="0"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="AHRS">
+          <DataPlot1D name="roll" period="100" enabled="1"/>
+          <DataPlot1D name="pitch" period="100" enabled="1"/>
+          <DataPlot1D name="yaw" period="100" enabled="1"/>
+          <DataPlot1D name="w_x" period="100" enabled="1"/>
+          <DataPlot1D name="w_y" period="100" enabled="1"/>
+          <DataPlot1D name="w_z" period="100" enabled="1"/>
+        </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="range finder">
+      <TabWidget name="range finder">
+        <Tab name="Reglages">
+          <GroupBox name="range finder"/>
+          <GroupBox name="Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="1"/>
+          </GroupBox>
+          <GroupBox name="Vz">
+            <DoubleSpinBox name="period, 0 for auto:" value="0"/>
+            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
+          </GroupBox>
+          <GroupBox name="Passe bas v">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="cutoff frequency" value="1"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures">
+          <DataPlot1D name="range finder" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="battery">
+      <GroupBox name="battery">
+        <Label name="battery"/>
+        <DoubleSpinBox name="threshold" value="14.8"/>
+        <SpinBox name="threshold time" value="10"/>
+      </GroupBox>
+    </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="0.01"/>
+            <Label name="trim roll"/>
+            <PushButton name="reset roll trim"/>
+            <Label name="trim pitch"/>
+            <PushButton name="reset pitch trim"/>
+          </GroupBox>
+        </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"/>
+        <PushButton name="start_circle"/>
+        <PushButton name="stop_circle"/>
+        <PushButton name="position hold"/>
+      </GridLayout>
+      <GroupBox name="takeoff/landing">
+        <DoubleSpinBox name="desired takeoff altitude" value="1.0"/>
+        <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="0.5"/>
+        <DoubleSpinBox name="acceleration (absolute):" value="0.2"/>
+      </GroupBox>
+    </Tab>
+    <Tab name="control laws">
+      <TabWidget name="laws">
+        <Tab name="Setup">
+          <GroupBox name="u_roll">
+            <DoubleSpinBox name="sat ref:" value="15"/>
+            <DoubleSpinBox name="kp:" value="15"/>
+            <DoubleSpinBox name="sat dref:" value="500"/>
+            <DoubleSpinBox name="kd:" value="0.02"/>
+            <DoubleSpinBox name="sat u:" value="0.2"/>
+          </GroupBox>
+          <GroupBox name="u_pitch">
+            <DoubleSpinBox name="sat ref:" value="15"/>
+            <DoubleSpinBox name="kp:" value="15"/>
+            <DoubleSpinBox name="sat dref:" value="500"/>
+            <DoubleSpinBox name="kd:" value="0.05"/>
+            <DoubleSpinBox name="sat u:" value="0.2"/>
+          </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="0.2"/>
+          </GroupBox>
+          <GroupBox name="u_z">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0.15"/>
+            <DoubleSpinBox name="ki:" value="0.020"/>
+            <DoubleSpinBox name="sat i:" value="0.15"/>
+            <DoubleSpinBox name="kd:" value="0.070"/>
+            <DoubleSpinBox name="offset g:" value="0.5"/>
+            <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"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0"/>
+          </GroupBox>
+          <GroupBox name="u_y">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="kp:" value="0"/>
+            <DoubleSpinBox name="ki:" value="0"/>
+            <DoubleSpinBox name="sat i:" value="0"/>
+            <DoubleSpinBox name="kd:" value="0"/>
+            <DoubleSpinBox name="sat:" value="0"/>
+          </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="0"/>
+          <DataPlot1D name="u_y" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+    <Tab name="vrpn">
+      <TabWidget name="vrpn">
+        <Tab name="Reglages">
+          <GroupBox name="post rotation 1">
+            <DoubleSpinBox name="value" value="90"/>
+            <ComboBox name="axis" value="1"/>
+          </GroupBox>
+          <GroupBox name="post rotation 2">
+            <DoubleSpinBox name="value" value="90"/>
+            <ComboBox name="axis" value="0"/>
+          </GroupBox>
+          <GroupBox name="x4_0 Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0.01"/>
+            <DoubleSpinBox name="cutoff frequency" value="2"/>
+          </GroupBox>
+          <GroupBox name="x4_0_euler">
+            <DoubleSpinBox name="period, 0 for auto:" value="0.01"/>
+            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
+          </GroupBox>
+          <GroupBox name="target Passe bas">
+            <DoubleSpinBox name="period, 0 for auto" value="0.01"/>
+            <DoubleSpinBox name="cutoff frequency" value="2"/>
+          </GroupBox>
+          <GroupBox name="target_euler">
+            <DoubleSpinBox name="period, 0 for auto:" value="0.01"/>
+            <DoubleSpinBox name="saturation, -1 to disable:" value="-1"/>
+          </GroupBox>
+          <GroupBox name="circle">
+            <DoubleSpinBox name="period, 0 for auto" value="0"/>
+            <DoubleSpinBox name="R" value="2"/>
+            <DoubleSpinBox name="velocity" value="0.5"/>
+            <DoubleSpinBox name="acceleration (absolute)" value="0.1"/>
+          </GroupBox>
+        </Tab>
+        <Tab name="Mesures x4_0">
+          <DataPlot1D name="x" period="100" enabled="0"/>
+          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="z" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="0"/>
+          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures (xy) x4_0">
+          <DataPlot2D name="xy" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures target">
+          <DataPlot1D name="x" period="100" enabled="0"/>
+          <DataPlot1D name="y" period="100" enabled="0"/>
+          <DataPlot1D name="z" period="100" enabled="0"/>
+          <DataPlot1D name="vx" period="100" enabled="0"/>
+          <DataPlot1D name="vy" period="100" enabled="0"/>
+          <DataPlot1D name="vz" period="100" enabled="0"/>
+        </Tab>
+        <Tab name="Mesures (xy) target">
+          <DataPlot2D name="xy" period="100" enabled="0"/>
+        </Tab>
+      </TabWidget>
+    </Tab>
+  <Tab name="intelaero-imu"><TabWidget name="intelaero-imu"><Tab name="Reglages"><GroupBox name="intelaero-imu"/></Tab><Tab name="AHRS"><DataPlot1D name="roll" period="100" enabled="1"/><DataPlot1D name="pitch" period="100" enabled="1"/><DataPlot1D name="yaw" period="100" enabled="1"/><DataPlot1D name="w_x" period="100" enabled="1"/><DataPlot1D name="w_y" period="100" enabled="1"/><DataPlot1D name="w_z" period="100" enabled="1"/></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="leddarone"><TabWidget name="leddarone"><Tab name="Reglages"><GroupBox name="leddarone"/><GroupBox name="Passe bas"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="4"/></GroupBox><GroupBox name="Vz"><DoubleSpinBox name="period, 0 for auto:" value="0.02"/><DoubleSpinBox name="saturation, -1 to disable:" value="-1"/></GroupBox><GroupBox name="Passe bas v"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="4"/></GroupBox><GroupBox name="KalmanAltitude"><DoubleSpinBox name="R0:" value="0.5"/><DoubleSpinBox name="Q0:" value="0.1"/><DoubleSpinBox name="Q1:" value="10"/></GroupBox></Tab><Tab name="Mesures"><DataPlot1D name="leddarone" period="100" enabled="1"/><DataPlot1D name="vz" period="100" enabled="1"/></Tab></TabWidget></Tab></TabWidget>
+  <PushButton name="save config on target (x4_0)" value="1"/>
+</root>
Index: trunk/demos/CircleFollower/uav/resources/core2-64/x4_intelaero.sh
===================================================================
--- trunk/demos/CircleFollower/uav/resources/core2-64/x4_intelaero.sh	(revision 423)
+++ trunk/demos/CircleFollower/uav/resources/core2-64/x4_intelaero.sh	(revision 423)
@@ -0,0 +1,11 @@
+#! /bin/bash
+
+if [ -f /proc/xenomai/version ];then
+	EXEC=./CircleFollower_rt
+else
+	EXEC=./CircleFollower_nrt
+fi
+
+. $FLAIR_ROOT/flair-src/scripts/distribution_specific_hack.sh
+
+$EXEC -n x4_0 -a 172.26.213.62 -p 9000 -l /tmp -x setup_x4_intelaero.xml -t aero
