<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>RevoSensorsWidget</class>
 <widget class="QWidget" name="RevoSensorsWidget">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>954</width>
    <height>726</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>
  <layout class="QVBoxLayout" name="verticalLayout">
   <item>
    <widget class="QTabWidget" name="tabWidget">
     <property name="autoFillBackground">
      <bool>true</bool>
     </property>
     <property name="currentIndex">
      <number>0</number>
     </property>
     <widget class="QWidget" name="calibrationTab">
      <property name="autoFillBackground">
       <bool>true</bool>
      </property>
      <attribute name="title">
       <string>Calibration</string>
      </attribute>
      <layout class="QVBoxLayout" name="verticalLayout_11">
       <property name="spacing">
        <number>6</number>
       </property>
       <property name="leftMargin">
        <number>12</number>
       </property>
       <property name="topMargin">
        <number>12</number>
       </property>
       <property name="rightMargin">
        <number>12</number>
       </property>
       <property name="bottomMargin">
        <number>12</number>
       </property>
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout">
         <property name="spacing">
          <number>6</number>
         </property>
         <property name="leftMargin">
          <number>0</number>
         </property>
         <property name="topMargin">
          <number>0</number>
         </property>
         <property name="rightMargin">
          <number>0</number>
         </property>
         <property name="bottomMargin">
          <number>0</number>
         </property>
         <item>
          <widget class="QGraphicsView" name="calibrationVisualHelp">
           <property name="sizePolicy">
            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
           <property name="frameShape">
            <enum>QFrame::NoFrame</enum>
           </property>
           <property name="lineWidth">
            <number>0</number>
           </property>
           <property name="verticalScrollBarPolicy">
            <enum>Qt::ScrollBarAlwaysOff</enum>
           </property>
           <property name="horizontalScrollBarPolicy">
            <enum>Qt::ScrollBarAlwaysOff</enum>
           </property>
           <property name="sizeAdjustPolicy">
            <enum>QAbstractScrollArea::AdjustToContents</enum>
           </property>
           <property name="interactive">
            <bool>false</bool>
           </property>
          </widget>
         </item>
         <item>
          <layout class="QVBoxLayout" name="verticalLayout_2">
           <property name="spacing">
            <number>6</number>
           </property>
           <property name="leftMargin">
            <number>0</number>
           </property>
           <property name="topMargin">
            <number>0</number>
           </property>
           <property name="rightMargin">
            <number>0</number>
           </property>
           <property name="bottomMargin">
            <number>0</number>
           </property>
           <item>
            <widget class="QGroupBox" name="accelCalGroupBox">
             <property name="title">
              <string>Accelerometer calibration</string>
             </property>
             <layout class="QHBoxLayout" name="horizontalLayout_4">
              <item>
               <widget class="QPushButton" name="accelStart">
                <property name="enabled">
                 <bool>true</bool>
                </property>
                <property name="toolTip">
                 <string>Launch accelerometer range and bias calibration.</string>
                </property>
                <property name="text">
                 <string>Start</string>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QProgressBar" name="accelProgress">
                <property name="value">
                 <number>0</number>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QPushButton" name="accelSavePos">
                <property name="enabled">
                 <bool>true</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>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="magCalGroupBox">
             <property name="title">
              <string>Magnetometer calibration</string>
             </property>
             <layout class="QHBoxLayout" name="horizontalLayout_3">
              <item>
               <widget class="QPushButton" name="magStart">
                <property name="enabled">
                 <bool>true</bool>
                </property>
                <property name="toolTip">
                 <string>Launch magnetometer range and bias calibration.</string>
                </property>
                <property name="text">
                 <string>Start</string>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QProgressBar" name="magProgress">
                <property name="value">
                 <number>0</number>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QPushButton" name="magSavePos">
                <property name="enabled">
                 <bool>true</bool>
                </property>
                <property name="text">
                 <string>Save Position</string>
                </property>
               </widget>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="boardLevelCalGroupBox">
             <property name="title">
              <string>Board level calibration</string>
             </property>
             <layout class="QHBoxLayout">
              <item>
               <widget class="QPushButton" name="boardLevelStart">
                <property name="enabled">
                 <bool>true</bool>
                </property>
                <property name="text">
                 <string>Start</string>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QProgressBar" name="boardLevelProgress">
                <property name="value">
                 <number>0</number>
                </property>
                <property name="textVisible">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QPushButton" name="boardLevelSavePos">
                <property name="enabled">
                 <bool>true</bool>
                </property>
                <property name="text">
                 <string>Save Position</string>
                </property>
               </widget>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="gyroBiasGroupBox">
             <property name="title">
              <string>Gyro bias calibration</string>
             </property>
             <layout class="QHBoxLayout">
              <item>
               <widget class="QPushButton" name="gyroBiasStart">
                <property name="enabled">
                 <bool>true</bool>
                </property>
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="text">
                 <string>Start</string>
                </property>
               </widget>
              </item>
              <item>
               <widget class="QProgressBar" name="gyroBiasProgress">
                <property name="minimumSize">
                 <size>
                  <width>300</width>
                  <height>0</height>
                 </size>
                </property>
                <property name="maximumSize">
                 <size>
                  <width>16777215</width>
                  <height>16777215</height>
                 </size>
                </property>
                <property name="value">
                 <number>0</number>
                </property>
                <property name="textVisible">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="thermalCalGroupBox">
             <property name="title">
              <string>Thermal calibration</string>
             </property>
             <layout class="QVBoxLayout">
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_thermalbias2">
                <item>
                 <widget class="QPushButton" name="thermalBiasStart">
                  <property name="enabled">
                   <bool>true</bool>
                  </property>
                  <property name="text">
                   <string>Start</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QProgressBar" name="thermalBiasProgress">
                  <property name="minimumSize">
                   <size>
                    <width>300</width>
                    <height>0</height>
                   </size>
                  </property>
                  <property name="maximumSize">
                   <size>
                    <width>16777215</width>
                    <height>16777215</height>
                   </size>
                  </property>
                  <property name="value">
                   <number>0</number>
                  </property>
                  <property name="textVisible">
                   <bool>true</bool>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QPushButton" name="thermalBiasEnd">
                  <property name="enabled">
                   <bool>true</bool>
                  </property>
                  <property name="text">
                   <string>End</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QPushButton" name="thermalBiasCancel">
                  <property name="enabled">
                   <bool>true</bool>
                  </property>
                  <property name="text">
                   <string>Cancel</string>
                  </property>
                 </widget>
                </item>
               </layout>
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_2">
                <property name="spacing">
                 <number>12</number>
                </property>
                <property name="leftMargin">
                 <number>0</number>
                </property>
                <property name="topMargin">
                 <number>0</number>
                </property>
                <item>
                 <widget class="QLabel" name="temperatureLabel">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
                    <horstretch>0</horstretch>
                    <verstretch>0</verstretch>
                   </sizepolicy>
                  </property>
                  <property name="font">
                   <font>
                    <weight>50</weight>
                    <bold>false</bold>
                   </font>
                  </property>
                  <property name="text">
                   <string>&lt;temperature&gt;</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QLabel" name="temperatureGradientLabel">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                    <horstretch>0</horstretch>
                    <verstretch>0</verstretch>
                   </sizepolicy>
                  </property>
                  <property name="text">
                   <string>&lt;gradient&gt;</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <widget class="QLabel" name="temperatureRangeLabel">
                  <property name="text">
                   <string>&lt;range&gt;</string>
                  </property>
                 </widget>
                </item>
                <item>
                 <spacer name="horizontalSpacer_3">
                  <property name="orientation">
                   <enum>Qt::Horizontal</enum>
                  </property>
                  <property name="sizeHint" stdset="0">
                   <size>
                    <width>40</width>
                    <height>20</height>
                   </size>
                  </property>
                 </spacer>
                </item>
               </layout>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QTextEdit" name="calibrationInstructions">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
             <property name="font">
              <font>
               <pointsize>10</pointsize>
               <weight>50</weight>
               <bold>false</bold>
              </font>
             </property>
             <property name="toolTip">
              <string>Calibration status</string>
             </property>
             <property name="frameShape">
              <enum>QFrame::StyledPanel</enum>
             </property>
             <property name="verticalScrollBarPolicy">
              <enum>Qt::ScrollBarAlwaysOn</enum>
             </property>
             <property name="horizontalScrollBarPolicy">
              <enum>Qt::ScrollBarAlwaysOff</enum>
             </property>
             <property name="sizeAdjustPolicy">
              <enum>QAbstractScrollArea::AdjustIgnored</enum>
             </property>
             <property name="html">
              <string notr="true">&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:10pt; font-weight:400; font-style:normal;&quot;&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-family:'MS Shell Dlg 2'; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
             </property>
             <property name="textInteractionFlags">
              <set>Qt::NoTextInteraction</set>
             </property>
            </widget>
           </item>
          </layout>
         </item>
        </layout>
       </item>
       <item>
        <spacer name="verticalSpacer_4">
         <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 class="QWidget" name="settingsTab">
      <property name="autoFillBackground">
       <bool>true</bool>
      </property>
      <attribute name="title">
       <string>Settings</string>
      </attribute>
      <layout class="QVBoxLayout" name="verticalLayout_6">
       <item>
        <layout class="QGridLayout" name="gridLayout_4">
         <property name="leftMargin">
          <number>6</number>
         </property>
         <property name="topMargin">
          <number>6</number>
         </property>
         <property name="rightMargin">
          <number>6</number>
         </property>
         <property name="bottomMargin">
          <number>6</number>
         </property>
         <item row="0" column="1">
          <widget class="QGroupBox" name="groupBox">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
           <property name="title">
            <string>Home Location</string>
           </property>
           <property name="alignment">
            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
           </property>
           <layout class="QGridLayout" name="gridLayout_2">
            <property name="sizeConstraint">
             <enum>QLayout::SetDefaultConstraint</enum>
            </property>
            <item row="2" column="3">
             <widget class="QLabel" name="label_10">
              <property name="text">
               <string>Gravity acceleration:</string>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QLabel" name="label_2">
              <property name="text">
               <string>Latitude:</string>
              </property>
             </widget>
            </item>
            <item row="2" column="5">
             <widget class="QLineEdit" name="geBox">
              <property name="alignment">
               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
              </property>
              <property name="readOnly">
               <bool>true</bool>
              </property>
              <property name="objrelation" stdset="0">
               <stringlist notr="true">
                <string>objname:HomeLocation</string>
                <string>fieldname:g_e</string>
               </stringlist>
              </property>
             </widget>
            </item>
            <item row="1" column="2">
             <widget class="QLineEdit" name="lattitudeBox">
              <property name="alignment">
               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
              </property>
              <property name="readOnly">
               <bool>true</bool>
              </property>
              <property name="objrelation" stdset="0">
               <stringlist notr="true">
                <string>objname:HomeLocation</string>
                <string>fieldname:Latitude</string>
               </stringlist>
              </property>
             </widget>
            </item>
            <item row="1" column="5">
             <widget class="QLineEdit" name="beBox">
              <property name="alignment">
               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
              </property>
              <property name="readOnly">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QLabel" name="label_8">
              <property name="text">
               <string>Altitude:</string>
              </property>
             </widget>
            </item>
            <item row="3" column="2">
             <widget class="QLineEdit" name="altitudeBox">
              <property name="alignment">
               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
              </property>
              <property name="readOnly">
               <bool>true</bool>
              </property>
              <property name="objrelation" stdset="0">
               <stringlist notr="true">
                <string>objname:HomeLocation</string>
                <string>fieldname:Altitude</string>
               </stringlist>
              </property>
             </widget>
            </item>
            <item row="1" column="3">
             <widget class="QLabel" name="label_9">
              <property name="text">
               <string>Magnetic field vector:</string>
              </property>
             </widget>
            </item>
            <item row="0" column="0" colspan="6">
             <widget class="QLabel" name="label_11">
              <property name="text">
               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This information must be set to enable calibration the Revolution controller's sensors. &lt;br/&gt;Set home location using context menu in the map widget.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
             </widget>
            </item>
            <item row="2" column="2">
             <widget class="QLineEdit" name="longitudeBox">
              <property name="alignment">
               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
              </property>
              <property name="readOnly">
               <bool>true</bool>
              </property>
              <property name="objrelation" stdset="0">
               <stringlist notr="true">
                <string>objname:HomeLocation</string>
                <string>fieldname:Longitude</string>
               </stringlist>
              </property>
             </widget>
            </item>
            <item row="3" column="5">
             <widget class="QCheckBox" name="isSetCheckBox">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
               <string>Is Set</string>
              </property>
              <property name="checkable">
               <bool>true</bool>
              </property>
              <property name="objrelation" stdset="0">
               <stringlist notr="true">
                <string>objname:HomeLocation</string>
                <string>fieldname:Set</string>
               </stringlist>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QLabel" name="label_4">
              <property name="text">
               <string>Longitude:</string>
              </property>
             </widget>
            </item>
            <item row="5" column="5" alignment="Qt::AlignRight">
             <widget class="QPushButton" name="hlClearButton">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
              </property>
              <property name="text">
               <string>Clear</string>
              </property>
             </widget>
            </item>
            <item row="4" column="5">
             <spacer name="verticalSpacer_3">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
                <height>0</height>
               </size>
              </property>
             </spacer>
            </item>
           </layout>
          </widget>
         </item>
         <item row="0" column="2">
          <spacer name="horizontalSpacer_2">
           <property name="orientation">
            <enum>Qt::Horizontal</enum>
           </property>
           <property name="sizeType">
            <enum>QSizePolicy::Expanding</enum>
           </property>
           <property name="sizeHint" stdset="0">
            <size>
             <width>50</width>
             <height>20</height>
            </size>
           </property>
          </spacer>
         </item>
         <item row="1" column="1">
          <widget class="QGroupBox" name="groupBox_3">
           <property name="title">
            <string>Rotate virtual attitude relative to board</string>
           </property>
           <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0,0,0,0">
            <item row="1" column="2">
             <spacer name="horizontalSpacer_8">
              <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 row="1" column="3">
             <widget class="QDoubleSpinBox" name="pitchRotation">
              <property name="minimum">
               <double>-180.000000000000000</double>
              </property>
              <property name="maximum">
               <double>180.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="1" column="4">
             <spacer name="horizontalSpacer_9">
              <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 row="0" column="1">
             <widget class="QLabel" name="label_12">
              <property name="minimumSize">
               <size>
                <width>70</width>
                <height>0</height>
               </size>
              </property>
              <property name="styleSheet">
               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
              </property>
              <property name="text">
               <string>Roll</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="0" column="5">
             <widget class="QLabel" name="label_13">
              <property name="minimumSize">
               <size>
                <width>70</width>
                <height>0</height>
               </size>
              </property>
              <property name="styleSheet">
               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
              </property>
              <property name="text">
               <string>Yaw</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <spacer name="horizontalSpacer_7">
              <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 row="1" column="1">
             <widget class="QDoubleSpinBox" name="rollRotation">
              <property name="minimum">
               <double>-180.000000000000000</double>
              </property>
              <property name="maximum">
               <double>180.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="0" column="3">
             <widget class="QLabel" name="label_15">
              <property name="minimumSize">
               <size>
                <width>70</width>
                <height>0</height>
               </size>
              </property>
              <property name="styleSheet">
               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
              </property>
              <property name="text">
               <string>Pitch</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="1" column="5">
             <widget class="QDoubleSpinBox" name="yawRotation">
              <property name="minimum">
               <double>-180.000000000000000</double>
              </property>
              <property name="maximum">
               <double>180.000000000000000</double>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </item>
         <item row="0" column="0">
          <layout class="QVBoxLayout" name="verticalLayout_4">
           <item>
            <widget class="QGroupBox" name="groupBox_2">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
             <property name="maximumSize">
              <size>
               <width>16777215</width>
               <height>16777215</height>
              </size>
             </property>
             <property name="title">
              <string>Attitude Estimation Algorithm</string>
             </property>
             <property name="alignment">
              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
             </property>
             <layout class="QGridLayout" name="gridLayout_3">
              <item row="0" column="0" alignment="Qt::AlignTop">
               <widget class="QComboBox" name="FusionAlgorithm">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="toolTip">
                 <string>Selects the sensor integration algorithm to be used by the Revolution board.</string>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <spacer name="verticalSpacer_2">
                <property name="orientation">
                 <enum>Qt::Vertical</enum>
                </property>
                <property name="sizeType">
                 <enum>QSizePolicy::MinimumExpanding</enum>
                </property>
                <property name="sizeHint" stdset="0">
                 <size>
                  <width>20</width>
                  <height>40</height>
                 </size>
                </property>
               </spacer>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="gyroInit_groupBox">
             <property name="title">
              <string>Gyro Initialization</string>
             </property>
             <layout class="QGridLayout" name="gridLayout_8">
              <item row="0" column="0">
               <widget class="QCheckBox" name="zeroGyroBiasOnArming">
                <property name="toolTip">
                 <string>If enabled, a fast recalibration of gyro zero point will be done
whenever the board is armed. Do not move the vehicle while
arming it in that case!</string>
                </property>
                <property name="text">
                 <string>Zero gyros while arming</string>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <widget class="QCheckBox" name="initGyroWhenBoardSteady">
                <property name="toolTip">
                 <string>If enabled, this option prevents gyro initialization while the board is moving.</string>
                </property>
                <property name="text">
                 <string>Wait until the board is steady</string>
                </property>
               </widget>
              </item>
             </layout>
            </widget>
           </item>
          </layout>
         </item>
         <item row="1" column="0">
          <widget class="QGroupBox" name="groupBox_4">
           <property name="title">
            <string>Filtering</string>
           </property>
           <layout class="QGridLayout" name="gridLayout_5">
            <item row="0" column="0">
             <widget class="QLabel" name="label_14">
              <property name="toolTip">
               <string/>
              </property>
              <property name="styleSheet">
               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
              </property>
              <property name="text">
               <string>Accelerometers</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QDoubleSpinBox" name="accelTau">
              <property name="toolTip">
               <string>Accelerometer filtering.

Sets the amount of lowpass filtering of accelerometer data 
for the attitude estimation. Higher values apply a stronger 
filter, which may help with drifting in attitude mode.

Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
Start low and raise until drift stops.

A setting of 0.00 disables the filter.</string>
              </property>
              <property name="maximum">
               <double>2.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.010000000000000</double>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </item>
        </layout>
       </item>
       <item>
        <spacer name="verticalSpacer">
         <property name="orientation">
          <enum>Qt::Vertical</enum>
         </property>
         <property name="sizeType">
          <enum>QSizePolicy::Expanding</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>20</width>
           <height>100</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </widget>
     <widget class="QWidget" name="externalMagTab">
      <property name="enabled">
       <bool>true</bool>
      </property>
      <attribute name="title">
       <string>Magnetometer</string>
      </attribute>
      <layout class="QVBoxLayout" name="verticalLayout_5">
       <item>
        <layout class="QGridLayout" name="gridLayout_6">
         <property name="leftMargin">
          <number>6</number>
         </property>
         <property name="topMargin">
          <number>6</number>
         </property>
         <property name="rightMargin">
          <number>6</number>
         </property>
         <property name="bottomMargin">
          <number>6</number>
         </property>
         <item row="0" column="1">
          <widget class="QGroupBox" name="gridGroupBox">
           <property name="sizePolicy">
            <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
           <property name="minimumSize">
            <size>
             <width>500</width>
             <height>0</height>
            </size>
           </property>
           <property name="title">
            <string>Auxiliary Magnetometer Orientation Help</string>
           </property>
           <layout class="QGridLayout" name="gridLayout_10">
            <property name="leftMargin">
             <number>6</number>
            </property>
            <property name="topMargin">
             <number>6</number>
            </property>
            <property name="rightMargin">
             <number>6</number>
            </property>
            <property name="bottomMargin">
             <number>6</number>
            </property>
            <item row="2" column="0">
             <widget class="QLabel" name="label_23">
              <property name="minimumSize">
               <size>
                <width>80</width>
                <height>30</height>
               </size>
              </property>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
                <height>30</height>
               </size>
              </property>
              <property name="styleSheet">
               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
              </property>
              <property name="text">
               <string>Y axis</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QLabel" name="label_22">
              <property name="minimumSize">
               <size>
                <width>80</width>
                <height>30</height>
               </size>
              </property>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
                <height>30</height>
               </size>
              </property>
              <property name="styleSheet">
               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
              </property>
              <property name="text">
               <string>Z axis</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QProgressBar" name="internalAuxErrorZ">
              <property name="toolTip">
               <string>Difference on Z axis</string>
              </property>
              <property name="minimum">
               <number>-50</number>
              </property>
              <property name="maximum">
               <number>50</number>
              </property>
              <property name="value">
               <number>0</number>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
              <property name="format">
               <string>%v</string>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QProgressBar" name="internalAuxErrorY">
              <property name="toolTip">
               <string>Difference on Y axis</string>
              </property>
              <property name="minimum">
               <number>-50</number>
              </property>
              <property name="maximum">
               <number>50</number>
              </property>
              <property name="value">
               <number>0</number>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
              <property name="format">
               <string>%v</string>
              </property>
             </widget>
            </item>
            <item row="0" column="0" colspan="2">
             <widget class="QTextEdit" name="textEdit">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
              </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 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-family:'Cantarell';&quot;&gt;The bargraphs show the difference between the onboard and auxiliary magnetometer measurements. &lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;justify&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Cantarell';&quot;&gt;When the auxiliary magnetometer rotation is set correctlly, all bargraphs should show all zero (bargraph centered) &lt;/span&gt;&lt;a name=&quot;result_box&quot;&gt;&lt;/a&gt;&lt;span style=&quot; font-family:'Cantarell';&quot;&gt;w&lt;/span&gt;&lt;span style=&quot; font-family:'Cantarell';&quot;&gt;hatever the vehicle's orientation.&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;justify&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Cantarell';&quot;&gt;This assumes both magnetometers are calibrated and without alarm.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QProgressBar" name="internalAuxErrorX">
              <property name="toolTip">
               <string>Difference on X axis</string>
              </property>
              <property name="minimum">
               <number>-50</number>
              </property>
              <property name="maximum">
               <number>50</number>
              </property>
              <property name="value">
               <number>0</number>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
              <property name="textVisible">
               <bool>true</bool>
              </property>
              <property name="format">
               <string>%v</string>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QLabel" name="label_24">
              <property name="minimumSize">
               <size>
                <width>80</width>
                <height>30</height>
               </size>
              </property>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
                <height>30</height>
               </size>
              </property>
              <property name="styleSheet">
               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
              </property>
              <property name="text">
               <string>X axis</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
           </layout>
          </widget>
         </item>
         <item row="0" column="0">
          <layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0">
           <property name="sizeConstraint">
            <enum>QLayout::SetDefaultConstraint</enum>
           </property>
           <property name="leftMargin">
            <number>0</number>
           </property>
           <item>
            <widget class="QGroupBox" name="groupBox_8">
             <property name="sizePolicy">
              <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
             <property name="title">
              <string>Magnetometer Settings</string>
             </property>
             <layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0,0">
              <property name="sizeConstraint">
               <enum>QLayout::SetMinimumSize</enum>
              </property>
              <item row="1" column="0">
               <widget class="QLabel" name="label_31">
                <property name="minimumSize">
                 <size>
                  <width>80</width>
                  <height>0</height>
                 </size>
                </property>
                <property name="text">
                 <string>Mag type:</string>
                </property>
               </widget>
              </item>
              <item row="0" column="0">
               <widget class="QLabel" name="label_32">
                <property name="minimumSize">
                 <size>
                  <width>80</width>
                  <height>0</height>
                 </size>
                </property>
                <property name="text">
                 <string>Mag usage:</string>
                </property>
               </widget>
              </item>
              <item row="1" column="1" colspan="2">
               <widget class="QComboBox" name="auxMagType">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="minimumSize">
                 <size>
                  <width>100</width>
                  <height>0</height>
                 </size>
                </property>
                <property name="toolTip">
                 <string>Select the magnetometer type.</string>
                </property>
               </widget>
              </item>
              <item row="0" column="1" colspan="2">
               <widget class="QComboBox" name="auxMagUsage">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="minimumSize">
                 <size>
                  <width>100</width>
                  <height>0</height>
                 </size>
                </property>
                <property name="toolTip">
                 <string>Select how to use available magnetometers.</string>
                </property>
               </widget>
              </item>
              <item row="2" column="1">
               <widget class="QDoubleSpinBox" name="maxDeviationWarning">
                <property name="toolTip">
                 <string>Warning level in percent (default 5%)</string>
                </property>
                <property name="minimum">
                 <double>0.010000000000000</double>
                </property>
                <property name="maximum">
                 <double>0.150000000000000</double>
                </property>
                <property name="singleStep">
                 <double>0.010000000000000</double>
                </property>
                <property name="value">
                 <double>0.050000000000000</double>
                </property>
               </widget>
              </item>
              <item row="2" column="2">
               <widget class="QDoubleSpinBox" name="maxDeviationError">
                <property name="toolTip">
                 <string>Error level in percent (default 15%)</string>
                </property>
                <property name="minimum">
                 <double>0.150000000000000</double>
                </property>
                <property name="maximum">
                 <double>0.300000000000000</double>
                </property>
                <property name="singleStep">
                 <double>0.010000000000000</double>
                </property>
               </widget>
              </item>
              <item row="2" column="0">
               <widget class="QLabel" name="label_5">
                <property name="text">
                 <string>Warning / Error levels:</string>
                </property>
               </widget>
              </item>
              <item row="2" column="3">
               <spacer name="horizontalSpacer_4">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
                </property>
                <property name="sizeType">
                 <enum>QSizePolicy::Expanding</enum>
                </property>
                <property name="sizeHint" stdset="0">
                 <size>
                  <width>40</width>
                  <height>20</height>
                 </size>
                </property>
               </spacer>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="groupBox_9">
             <property name="sizePolicy">
              <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
             <property name="title">
              <string>Magnetometer Status</string>
             </property>
             <layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0,0,0">
              <property name="sizeConstraint">
               <enum>QLayout::SetMinimumSize</enum>
              </property>
              <item row="4" column="1">
               <widget class="QLabel" name="onBoardMagStatus">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="minimumSize">
                 <size>
                  <width>100</width>
                  <height>35</height>
                 </size>
                </property>
                <property name="styleSheet">
                 <string notr="true">background-color: green;
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
                </property>
                <property name="text">
                 <string>Onboard</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
               </widget>
              </item>
              <item row="4" column="2">
               <widget class="QLabel" name="auxMagStatus">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="minimumSize">
                 <size>
                  <width>100</width>
                  <height>40</height>
                 </size>
                </property>
                <property name="styleSheet">
                 <string notr="true">background-color: green;
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
                </property>
                <property name="text">
                 <string>AuxMag</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <widget class="QLabel" name="label">
                <property name="minimumSize">
                 <size>
                  <width>110</width>
                  <height>20</height>
                 </size>
                </property>
                <property name="text">
                 <string>Mag source:</string>
                </property>
               </widget>
              </item>
              <item row="4" column="0">
               <widget class="QLabel" name="label_3">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="minimumSize">
                 <size>
                  <width>0</width>
                  <height>0</height>
                 </size>
                </property>
                <property name="text">
                 <string>Mag alarms:</string>
                </property>
               </widget>
              </item>
              <item row="4" column="3">
               <spacer name="horizontalSpacer_5">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
                </property>
                <property name="sizeType">
                 <enum>QSizePolicy::Expanding</enum>
                </property>
                <property name="sizeHint" stdset="0">
                 <size>
                  <width>40</width>
                  <height>20</height>
                 </size>
                </property>
               </spacer>
              </item>
              <item row="1" column="1" colspan="2">
               <widget class="QLabel" name="magStatusSource">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="text">
                 <string notr="true">external</string>
                </property>
               </widget>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="groupBox_7">
             <property name="sizePolicy">
              <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
             <property name="title">
              <string>Auxiliary Magnetometer Orientation</string>
             </property>
             <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,0,0">
              <property name="sizeConstraint">
               <enum>QLayout::SetMinimumSize</enum>
              </property>
              <item row="2" column="0">
               <widget class="QLabel" name="label_29">
                <property name="minimumSize">
                 <size>
                  <width>70</width>
                  <height>30</height>
                 </size>
                </property>
                <property name="maximumSize">
                 <size>
                  <width>0</width>
                  <height>30</height>
                 </size>
                </property>
                <property name="styleSheet">
                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
                </property>
                <property name="text">
                 <string>Roll</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
               </widget>
              </item>
              <item row="4" column="1">
               <widget class="QDoubleSpinBox" name="auxMagPitchRotation">
                <property name="decimals">
                 <number>0</number>
                </property>
                <property name="minimum">
                 <double>-180.000000000000000</double>
                </property>
                <property name="maximum">
                 <double>180.000000000000000</double>
                </property>
               </widget>
              </item>
              <item row="4" column="2">
               <widget class="QDoubleSpinBox" name="auxMagYawRotation">
                <property name="decimals">
                 <number>0</number>
                </property>
                <property name="minimum">
                 <double>-180.000000000000000</double>
                </property>
                <property name="maximum">
                 <double>180.000000000000000</double>
                </property>
               </widget>
              </item>
              <item row="2" column="1">
               <widget class="QLabel" name="label_28">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="minimumSize">
                 <size>
                  <width>70</width>
                  <height>30</height>
                 </size>
                </property>
                <property name="maximumSize">
                 <size>
                  <width>0</width>
                  <height>30</height>
                 </size>
                </property>
                <property name="styleSheet">
                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
                </property>
                <property name="text">
                 <string>Pitch</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
               </widget>
              </item>
              <item row="4" column="0">
               <widget class="QDoubleSpinBox" name="auxMagRollRotation">
                <property name="toolTip">
                 <string/>
                </property>
                <property name="decimals">
                 <number>0</number>
                </property>
                <property name="minimum">
                 <double>-180.000000000000000</double>
                </property>
                <property name="maximum">
                 <double>180.000000000000000</double>
                </property>
               </widget>
              </item>
              <item row="2" column="2">
               <widget class="QLabel" name="label_30">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
                <property name="minimumSize">
                 <size>
                  <width>70</width>
                  <height>30</height>
                 </size>
                </property>
                <property name="maximumSize">
                 <size>
                  <width>0</width>
                  <height>30</height>
                 </size>
                </property>
                <property name="styleSheet">
                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
                </property>
                <property name="text">
                 <string>Yaw</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
               </widget>
              </item>
             </layout>
            </widget>
           </item>
          </layout>
         </item>
        </layout>
       </item>
       <item>
        <spacer name="verticalSpacer_5">
         <property name="orientation">
          <enum>Qt::Vertical</enum>
         </property>
         <property name="sizeType">
          <enum>QSizePolicy::Expanding</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
           <width>20</width>
           <height>40</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
     </widget>
     <widget class="QWidget" name="helpTab">
      <attribute name="title">
       <string>Help</string>
      </attribute>
      <layout class="QVBoxLayout" name="verticalLayout_3">
       <item>
        <widget class="QTextEdit" name="helpTextEdit">
         <property name="toolTip">
          <string>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 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-family:'MS Shell Dlg 2'; font-size:14pt; font-weight:600;&quot;&gt;Help&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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2';&quot;&gt;Steps 1, 2 and 3 are necessary.&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-family:'MS Shell Dlg 2';&quot;&gt;Step 4 is optional but may help achieve the best possible results.&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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 1: Accelerometer and Magnetometer 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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2';&quot;&gt;This step will calibrate the scale for the Magnetometer and the Accelerometer sensors. &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-family:'MS Shell Dlg 2';&quot;&gt;Press &lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt; to begin, and follow the instructions for each step. &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-family:'MS Shell Dlg 2';&quot;&gt;For best results with the accelerometer calibration, it is advised that it be performed with a free unmounted flight controller as this allows one to accurately position the board for each orientation in the sequence.&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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2';&quot;&gt;The magnetometer calibration must be performed with the board mounted in the airframe in order for the measurements to incorporate any bias produced by local onboard metal/magnetic elements.&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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2';&quot;&gt;Note 1: Before the magnetometer or the accelerometer calibration is performed your Home Location must be set. This step is needed in order to determine the local magnetic field vector (Be) and acceleration due to gravity (g_e).&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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2';&quot;&gt;Note 2: There is no need to align the airframe exactly south, north, east or west during the individual steps. The directions indicated serve only to tell you in which direction the airframe should be positioned relative to some point.  One can simply assume that North is in front of you, East is to the right, West is to the left and South is pointing at you.&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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 2: Board level 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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2';&quot;&gt;This step will ensure that board leveling is accurate. Place the airframe as horizontally as possible (use a spirit level if necessary), then press &lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;.  Do not move the airframe at all until the end of the 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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 3: Gyro bias calculation&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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2';&quot;&gt;This step will allow you to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/airframe completely stationary and press &lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;. &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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 4: Thermal 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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&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-family:'MS Shell Dlg 2';&quot;&gt;The calibration will compute sensors bias variations at different temperatures while the board warms up.&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-family:'MS Shell Dlg 2';&quot;&gt;This allows a certain amount of correction of those bias variations against temperature changes.  It improves altitude hold accuracy and reduces yaw drift.&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-family:'MS Shell Dlg 2';&quot;&gt;To perform this calibration disconnect any power from the board and leave it to cool down at room temperature for 15-20 minutes. Then attach the usb connector to the board and press &lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;, leaving the board completely stationary. Wait until complete.&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-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
         </property>
         <property name="textInteractionFlags">
          <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
         </property>
        </widget>
       </item>
      </layout>
     </widget>
    </widget>
   </item>
   <item>
    <layout class="QHBoxLayout" name="submitButtons">
     <property name="spacing">
      <number>4</number>
     </property>
     <item>
      <spacer name="horizontalSpacer">
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
       <property name="sizeHint" stdset="0">
        <size>
         <width>40</width>
         <height>5</height>
        </size>
       </property>
      </spacer>
     </item>
     <item>
      <widget class="QPushButton" name="helpButton">
       <property name="sizePolicy">
        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
         <horstretch>0</horstretch>
         <verstretch>0</verstretch>
        </sizepolicy>
       </property>
       <property name="maximumSize">
        <size>
         <width>25</width>
         <height>25</height>
        </size>
       </property>
       <property name="font">
        <font>
         <kerning>true</kerning>
        </font>
       </property>
       <property name="text">
        <string/>
       </property>
       <property name="icon">
        <iconset resource="../coreplugin/core.qrc">
         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
       </property>
       <property name="iconSize">
        <size>
         <width>25</width>
         <height>25</height>
        </size>
       </property>
       <property name="shortcut">
        <string>Ctrl+S</string>
       </property>
       <property name="default">
        <bool>false</bool>
       </property>
       <property name="flat">
        <bool>true</bool>
       </property>
       <property name="objrelation" stdset="0">
        <string notr="true">button:help</string>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="applyButton">
       <property name="toolTip">
        <string>Save settings to the 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>Apply</string>
       </property>
       <property name="objrelation" stdset="0">
        <string notr="true">button:apply</string>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="saveButton">
       <property name="toolTip">
        <string>Send settings to the board, and save to the non-volatile memory.</string>
       </property>
       <property name="text">
        <string>Save</string>
       </property>
       <property name="checked">
        <bool>false</bool>
       </property>
       <property name="objrelation" stdset="0">
        <string notr="true">button:save</string>
       </property>
      </widget>
     </item>
    </layout>
   </item>
  </layout>
 </widget>
 <resources>
  <include location="../coreplugin/core.qrc"/>
 </resources>
 <connections/>
</ui>
