<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>AHRSWidget</class>
 <widget class="QWidget" name="AHRSWidget">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>720</width>
    <height>499</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>
  <layout class="QVBoxLayout" name="verticalLayout">
   <item>
    <widget class="QTabWidget" name="tabWidget">
     <property name="currentIndex">
      <number>0</number>
     </property>
     <widget class="QWidget" name="tab_2">
      <attribute name="title">
       <string>Calibration</string>
      </attribute>
      <layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0">
       <item>
        <layout class="QHBoxLayout" name="sixPointLayout" stretch="1,2">
         <item>
          <widget class="QFrame" name="frame">
           <property name="frameShape">
            <enum>QFrame::Box</enum>
           </property>
           <property name="frameShadow">
            <enum>QFrame::Sunken</enum>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
            <property name="margin">
             <number>3</number>
            </property>
            <item>
             <layout class="QVBoxLayout" name="verticalLayout_3">
              <item>
               <widget class="QLabel" name="label_3">
                <property name="font">
                 <font>
                  <weight>75</weight>
                  <bold>true</bold>
                 </font>
                </property>
                <property name="text">
                 <string>#1: Six Point Calibration</string>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QGraphicsView" name="sixPointsHelp">
                <property name="toolTip">
                 <string>Nice paper plane, eh?</string>
                </property>
               </widget>
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_4">
                <item>
                 <widget class="QPushButton" name="sixPointsStart">
                  <property name="enabled">
                   <bool>false</bool>
                  </property>
                  <property name="toolTip">
                   <string>Launch a sensor range and bias calibration.</string>
                  </property>
                  <property name="text">
                   <string>Start</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QPushButton" name="sixPointsSave">
                  <property name="enabled">
                   <bool>false</bool>
                  </property>
                  <property name="toolTip">
                   <string>Save settings (only enabled when calibration is running)</string>
                  </property>
                  <property name="text">
                   <string>Save Position</string>
                  </property>
                 </widget>
                </item>
               </layout>
              </item>
             </layout>
            </item>
           </layout>
           <zorder></zorder>
          </widget>
         </item>
         <item>
          <widget class="QFrame" name="frame_2">
           <property name="frameShape">
            <enum>QFrame::Box</enum>
           </property>
           <property name="frameShadow">
            <enum>QFrame::Sunken</enum>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_10">
            <property name="margin">
             <number>3</number>
            </property>
            <item>
             <layout class="QVBoxLayout" name="verticalLayout_4">
              <item>
               <widget class="QLabel" name="label">
                <property name="font">
                 <font>
                  <weight>75</weight>
                  <bold>true</bold>
                 </font>
                </property>
                <property name="text">
                 <string>#2: Sensor noise calibration</string>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QGraphicsView" name="ahrsBargraph">
                <property name="toolTip">
                 <string>These are the sensor variance values computed by the AHRS.

Tip: lower is better!</string>
                </property>
                <property name="verticalScrollBarPolicy">
                 <enum>Qt::ScrollBarAlwaysOff</enum>
                </property>
                <property name="horizontalScrollBarPolicy">
                 <enum>Qt::ScrollBarAlwaysOff</enum>
                </property>
               </widget>
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout">
                <item>
                 <widget class="QPushButton" name="ahrsCalibStart">
                  <property name="enabled">
                   <bool>false</bool>
                  </property>
                  <property name="toolTip">
                   <string>Press to start a calibration procedure, about 15 seconds.

Hint: run this with engines at cruising speed.</string>
                  </property>
                  <property name="text">
                   <string>Start</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QProgressBar" name="calibProgress">
                  <property name="enabled">
                   <bool>true</bool>
                  </property>
                  <property name="maximum">
                   <number>15</number>
                  </property>
                  <property name="value">
                   <number>0</number>
                  </property>
                  <property name="textVisible">
                   <bool>false</bool>
                  </property>
                 </widget>
                </item>
               </layout>
              </item>
             </layout>
            </item>
           </layout>
          </widget>
         </item>
        </layout>
       </item>
       <item>
        <layout class="QHBoxLayout" name="sensorNoiseLayout">
         <item>
          <widget class="QFrame" name="frame_3">
           <property name="frameShape">
            <enum>QFrame::StyledPanel</enum>
           </property>
           <property name="frameShadow">
            <enum>QFrame::Raised</enum>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
            <property name="margin">
             <number>3</number>
            </property>
            <item>
             <layout class="QVBoxLayout" name="verticalLayout_5">
              <item>
               <widget class="QLabel" name="label_5">
                <property name="font">
                 <font>
                  <weight>75</weight>
                  <bold>true</bold>
                 </font>
                </property>
                <property name="text">
                 <string>#3: Accelerometer Bias calibration</string>
                </property>
               </widget>
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_3">
                <item>
                 <widget class="QPushButton" name="accelBiasStart">
                  <property name="enabled">
                   <bool>false</bool>
                  </property>
                  <property name="text">
                   <string>Start</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QProgressBar" name="accelBiasProgress">
                  <property name="value">
                   <number>0</number>
                  </property>
                  <property name="textVisible">
                   <bool>false</bool>
                  </property>
                 </widget>
                </item>
               </layout>
              </item>
             </layout>
            </item>
           </layout>
          </widget>
         </item>
         <item>
          <widget class="QFrame" name="frame_4">
           <property name="frameShape">
            <enum>QFrame::StyledPanel</enum>
           </property>
           <property name="frameShadow">
            <enum>QFrame::Raised</enum>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_8">
            <property name="margin">
             <number>3</number>
            </property>
            <item>
             <layout class="QVBoxLayout" name="gyroDriftLayout">
              <item>
               <widget class="QLabel" name="label_6">
                <property name="font">
                 <font>
                  <weight>75</weight>
                  <bold>true</bold>
                 </font>
                </property>
                <property name="text">
                 <string>#4 Gyro temperature drift calibration</string>
                </property>
               </widget>
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_5">
                <item>
                 <widget class="QLabel" name="label_7">
                  <property name="text">
                   <string>Temp:</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QLabel" name="gyroMinTemp">
                  <property name="font">
                   <font>
                    <pointsize>9</pointsize>
                   </font>
                  </property>
                  <property name="text">
                   <string>Min</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QSlider" name="gyroTempSlider">
                  <property name="toolTip">
                   <string>Currently measured temperature on the system. This is actually the
MB temperature, be careful if somehow you know that your INS
temperature is very different from your MB temp...</string>
                  </property>
                  <property name="orientation">
                   <enum>Qt::Horizontal</enum>
                  </property>
                  <property name="tickPosition">
                   <enum>QSlider::TicksBelow</enum>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QLabel" name="gyroMaxTemp">
                  <property name="font">
                   <font>
                    <pointsize>9</pointsize>
                   </font>
                  </property>
                  <property name="text">
                   <string>Max</string>
                  </property>
                 </widget>
                </item>
               </layout>
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_7">
                <item>
                 <widget class="QLabel" name="label_14">
                  <property name="text">
                   <string>Current drift:</string>
                  </property>
                 </widget>
                </item>
               </layout>
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_10">
                <item>
                 <widget class="QLabel" name="label_17">
                  <property name="text">
                   <string>Saved drift:</string>
                  </property>
                 </widget>
                </item>
               </layout>
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_6">
                <item>
                 <widget class="QPushButton" name="startDriftCalib">
                  <property name="enabled">
                   <bool>false</bool>
                  </property>
                  <property name="toolTip">
                   <string>Start gathering data for temperature drift calibration.
Avoid sudden moves once you have started gathering!</string>
                  </property>
                  <property name="text">
                   <string>Start</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QPushButton" name="gyroMeasureDrift">
                  <property name="enabled">
                   <bool>false</bool>
                  </property>
                  <property name="toolTip">
                   <string>Launch drift measurement based on gathered data.

TODO: is this necessary? Measurement could be auto updated every second or so, or done when we stop measuring...</string>
                  </property>
                  <property name="text">
                   <string>Measure</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QPushButton" name="updateDrift">
                  <property name="enabled">
                   <bool>false</bool>
                  </property>
                  <property name="toolTip">
                   <string>Updates the XYZ drift values into the AHRS (saves to SD)</string>
                  </property>
                  <property name="text">
                   <string>Save</string>
                  </property>
                 </widget>
                </item>
               </layout>
              </item>
             </layout>
            </item>
           </layout>
          </widget>
         </item>
        </layout>
       </item>
       <item>
        <widget class="QTextEdit" name="sixPointCalibInstructions">
         <property name="toolTip">
          <string>Six Point Calibration instructions</string>
         </property>
         <property name="horizontalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
         <property name="html">
          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Help&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Step #1 and #2 are really necessary. Steps #3 and #4 will help you achieve the best possible results.&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;#1: Six point calibration:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This calibration will compute the scale for all sensors on the INS. Press &amp;quot;Start&amp;quot; to begin calibration, and follow the instructions which will be displayed here.&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;#2: Sensor noise calibration:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This calibration will compute sensor variance under standard conditions. You can leave your engines running at low to mid throttle to take their vibration into account before pressing &amp;quot;Start&amp;quot;.&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;#3: Accelerometer bias calibration:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This step will ensure that accelerometer bias is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;#4 Gyro temp drift calibration:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
         </property>
        </widget>
       </item>
      </layout>
     </widget>
     <widget class="QWidget" name="tab">
      <attribute name="title">
       <string>Settings</string>
      </attribute>
      <layout class="QVBoxLayout" name="verticalLayout_6">
       <item>
        <layout class="QHBoxLayout" name="ahrsSettingsLayout">
         <item>
          <widget class="QLabel" name="label_2">
           <property name="text">
            <string>INS Algorithm:</string>
           </property>
          </widget>
         </item>
         <item>
          <widget class="QComboBox" name="algorithm">
           <property name="toolTip">
            <string>Select the sensor integration algorithm here.
&quot;Simple&quot; only uses accelerometer values
&quot;INSGPS&quot; the full featured algorithm integrating all sensors</string>
           </property>
          </widget>
         </item>
         <item>
          <spacer name="horizontalSpacer_2">
           <property name="orientation">
            <enum>Qt::Horizontal</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>40</width>
             <height>20</height>
            </size>
           </property>
          </spacer>
         </item>
         <item>
          <widget class="QLabel" name="label_4">
           <property name="text">
            <string>Home Location:</string>
           </property>
          </widget>
         </item>
         <item>
          <widget class="QRadioButton" name="homeLocationSet">
           <property name="enabled">
            <bool>false</bool>
           </property>
           <property name="toolTip">
            <string>Saves the Home Location. This is only enabled
if the Home Location is set, i.e. if the GPS fix is
successful.

Disabled if there is no GPS fix.</string>
           </property>
           <property name="text">
            <string>Set</string>
           </property>
           <property name="checked">
            <bool>true</bool>
           </property>
           <attribute name="buttonGroup">
            <string>buttonGroup</string>
           </attribute>
          </widget>
         </item>
         <item>
          <widget class="QRadioButton" name="homeLocationClear">
           <property name="enabled">
            <bool>true</bool>
           </property>
           <property name="toolTip">
            <string>Clears the HomeLocation: only makes sense if you save
to SD. This will force the INS to use the next GPS fix as the
new home location unless it is in indoor mode.</string>
           </property>
           <property name="text">
            <string>Clear</string>
           </property>
           <attribute name="buttonGroup">
            <string>buttonGroup</string>
           </attribute>
          </widget>
         </item>
        </layout>
       </item>
       <item>
        <spacer name="verticalSpacer">
         <property name="orientation">
          <enum>Qt::Vertical</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>20</width>
           <height>40</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </widget>
    </widget>
   </item>
   <item>
    <layout class="QHBoxLayout" name="submitButtons">
     <item>
      <widget class="QLabel" name="calibInstructions">
       <property name="text">
        <string>Telemetry link not established.</string>
       </property>
      </widget>
     </item>
     <item>
      <spacer name="horizontalSpacer">
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
       <property name="sizeHint" stdset="0">
        <size>
         <width>40</width>
         <height>20</height>
        </size>
       </property>
      </spacer>
     </item>
     <item>
      <widget class="QPushButton" name="ahrsSettingsRequest">
       <property name="toolTip">
        <string>Refresh this screen with current values from the board.</string>
       </property>
       <property name="text">
        <string>Request</string>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="ahrsSettingsSaveRAM">
       <property name="toolTip">
        <string>Save settings to the OP board (RAM only).

This does not save the calibration settings, this is done using the
specific calibration button on top of the screen.</string>
       </property>
       <property name="text">
        <string>Save to RAM</string>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="ahrsSettingsSaveSD">
       <property name="toolTip">
        <string>Send settings to OP board, and save to the microSD card.</string>
       </property>
       <property name="text">
        <string>Save to SD</string>
       </property>
       <property name="checked">
        <bool>false</bool>
       </property>
      </widget>
     </item>
    </layout>
   </item>
  </layout>
 </widget>
 <resources/>
 <connections/>
 <buttongroups>
  <buttongroup name="buttonGroup"/>
 </buttongroups>
</ui>
