<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>AutotuneWidget</class>
 <widget class="QWidget" name="AutotuneWidget">
  <property name="geometry">
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    <x>0</x>
    <y>0</y>
    <width>739</width>
    <height>688</height>
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    <verstretch>0</verstretch>
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  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>
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   <property name="spacing">
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   <property name="rightMargin">
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   </property>
   <property name="bottomMargin">
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   <item>
    <widget class="QTabWidget" name="Autotune_tabs">
     <property name="currentIndex">
      <number>0</number>
     </property>
     <widget class="QWidget" name="Preautotune_tab">
      <attribute name="title">
       <string>Pre-Autotune</string>
      </attribute>
      <layout class="QGridLayout" name="gridLayout_5">
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         <property name="minimumSize">
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         <property name="maximumSize">
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           <height>16777215</height>
          </size>
         </property>
         <property name="frameShape">
          <enum>QFrame::StyledPanel</enum>
         </property>
         <property name="frameShadow">
          <enum>QFrame::Sunken</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-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;&quot;&gt;WARNING:&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:'Lucida Grande'; font-size:13pt;&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:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&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:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&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:'Lucida Grande'; font-size:13pt;&quot;&gt;This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be &lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:600;&quot;&gt;very very wary&lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt; for it creating bad tuning values.  Basically there is no reason to think this will work at all.&lt;br /&gt;&lt;br /&gt;To use autotuning, here are the steps:&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;On the &lt;span style=&quot; font-style:italic;&quot;&gt;Input configuration&lt;/span&gt; tab, &lt;span style=&quot; font-style:italic;&quot;&gt;Flight Mode Switch Settings&lt;/span&gt;, set one of your flight modes to &amp;quot;Autotune&amp;quot;.&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Take off, change flight mode to autotune, keep it in the air while it's shaking.&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Land and disarm.  (note - you &lt;span style=&quot; font-weight:600;&quot;&gt;MUST&lt;/span&gt; stay in autotune mode through this point, leaving autotune before disarming aborts the process)&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).&lt;br /&gt;&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Test fly the new settings.&lt;/li&gt;
&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you're ready to proceed, click the &lt;span style=&quot; font-style:italic;&quot;&gt;Enable Autotune Module&lt;/span&gt; checkbox above this text, click &lt;span style=&quot; font-style:italic;&quot;&gt;save&lt;/span&gt; and go to the next tab.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</string>
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        </widget>
       </item>
       <item row="2" column="0" colspan="3">
        <widget class="QGroupBox" name="groupBox_5">
         <property name="title">
          <string>Module Control</string>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_4">
          <item>
           <widget class="QCheckBox" name="enableAutoTune">
            <property name="text">
             <string>Enable Autotune Module</string>
            </property>
            <property name="checkable">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item>
           <widget class="QLabel" name="label_13">
            <property name="text">
             <string>After enabling the module, you must power cycle before using and configuring.</string>
            </property>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
      </layout>
     </widget>
     <widget class="QWidget" name="autotune_tab">
      <attribute name="title">
       <string>Autotune Setup</string>
      </attribute>
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        <widget class="QScrollArea" name="scrollArea">
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         <property name="frameShadow">
          <enum>QFrame::Plain</enum>
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         <property name="widgetResizable">
          <bool>true</bool>
         </property>
         <widget class="QWidget" name="scrollAreaWidgetContents">
          <property name="geometry">
           <rect>
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            <y>0</y>
            <width>526</width>
            <height>510</height>
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          <property name="sizePolicy">
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          </property>
          <property name="autoFillBackground">
           <bool>true</bool>
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           <property name="spacing">
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           </property>
           <property name="leftMargin">
            <number>12</number>
           </property>
           <property name="topMargin">
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           </property>
           <property name="rightMargin">
            <number>12</number>
           </property>
           <property name="bottomMargin">
            <number>12</number>
           </property>
           <item>
            <widget class="QGroupBox" name="groupBox">
             <property name="title">
              <string>Tuning Aggressiveness</string>
             </property>
             <layout class="QGridLayout" name="gridLayout_2">
              <item row="0" column="0">
               <widget class="QLabel" name="label">
                <property name="text">
                 <string>Rate Tuning:</string>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <widget class="QLabel" name="label_2">
                <property name="text">
                 <string>Attitude Tuning:</string>
                </property>
               </widget>
              </item>
              <item row="0" column="1">
               <widget class="QSlider" name="rateTuning">
                <property name="maximum">
                 <number>100</number>
                </property>
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
                </property>
                <property name="objrelation" stdset="0">
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                  <string>haslimits:no</string>
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                </property>
               </widget>
              </item>
              <item row="1" column="1">
               <widget class="QSlider" name="attitudeTuning">
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                <property name="orientation">
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               </widget>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="groupBox_3">
             <property name="title">
              <string>Measured Properties</string>
             </property>
             <layout class="QGridLayout" name="gridLayout">
              <item row="1" column="0">
               <widget class="QLabel" name="label_3">
                <property name="text">
                 <string>Roll:</string>
                </property>
               </widget>
              </item>
              <item row="1" column="1">
               <widget class="QLabel" name="measuredRollPeriod">
                <property name="text">
                 <string>0</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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                </property>
               </widget>
              </item>
              <item row="1" column="2">
               <widget class="QLabel" name="measuredRollGain">
                <property name="text">
                 <string>0</string>
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                <property name="alignment">
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                <property name="objrelation" stdset="0">
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                </property>
               </widget>
              </item>
              <item row="0" column="1">
               <widget class="QLabel" name="label_6">
                <property name="text">
                 <string>Period (ms)</string>
                </property>
               </widget>
              </item>
              <item row="0" column="2">
               <widget class="QLabel" name="label_7">
                <property name="text">
                 <string>Gain (deg/s) / output</string>
                </property>
               </widget>
              </item>
              <item row="2" column="0">
               <widget class="QLabel" name="label_8">
                <property name="text">
                 <string>Pitch</string>
                </property>
               </widget>
              </item>
              <item row="2" column="1">
               <widget class="QLabel" name="measuredPitchPeriod">
                <property name="text">
                 <string>0</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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                <property name="objrelation" stdset="0">
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                </property>
               </widget>
              </item>
              <item row="2" column="2">
               <widget class="QLabel" name="measuredPitchGain">
                <property name="text">
                 <string>0</string>
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                <property name="alignment">
                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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                </property>
               </widget>
              </item>
             </layout>
            </widget>
           </item>
           <item>
            <widget class="QGroupBox" name="groupBox_2">
             <property name="title">
              <string>Computed Values</string>
             </property>
             <layout class="QGridLayout" name="gridLayout_3">
              <item row="0" column="2">
               <widget class="QLabel" name="label_9">
                <property name="text">
                 <string>RateKi</string>
                </property>
               </widget>
              </item>
              <item row="0" column="3">
               <widget class="QLabel" name="label_10">
                <property name="text">
                 <string>AttitudeKp</string>
                </property>
               </widget>
              </item>
              <item row="2" column="2">
               <widget class="QLabel" name="pitchRateKi">
                <property name="text">
                 <string>0</string>
                </property>
               </widget>
              </item>
              <item row="2" column="0">
               <widget class="QLabel" name="label_12">
                <property name="text">
                 <string>Pitch</string>
                </property>
               </widget>
              </item>
              <item row="0" column="1">
               <widget class="QLabel" name="label_5">
                <property name="text">
                 <string>RateKp</string>
                </property>
               </widget>
              </item>
              <item row="1" column="1">
               <widget class="QLabel" name="rollRateKp">
                <property name="text">
                 <string>0</string>
                </property>
               </widget>
              </item>
              <item row="0" column="4">
               <widget class="QLabel" name="label_11">
                <property name="text">
                 <string>AttitudeKi</string>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <widget class="QLabel" name="label_4">
                <property name="text">
                 <string>Roll</string>
                </property>
               </widget>
              </item>
              <item row="1" column="3">
               <widget class="QLabel" name="rollAttitudeKp">
                <property name="text">
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               </widget>
              </item>
              <item row="2" column="4">
               <widget class="QLabel" name="pitchAttitudeKi">
                <property name="text">
                 <string>0</string>
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              </item>
              <item row="2" column="3">
               <widget class="QLabel" name="pitchAttitudeKp">
                <property name="text">
                 <string>0</string>
                </property>
               </widget>
              </item>
              <item row="2" column="1">
               <widget class="QLabel" name="pitchRateKp">
                <property name="text">
                 <string>0</string>
                </property>
               </widget>
              </item>
              <item row="1" column="2">
               <widget class="QLabel" name="rollRateKi">
                <property name="text">
                 <string>0</string>
                </property>
               </widget>
              </item>
              <item row="1" column="4">
               <widget class="QLabel" name="rollAttitudeKi">
                <property name="text">
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              </item>
             </layout>
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           </item>
           <item>
            <widget class="QGroupBox" name="groupBox_4">
             <property name="title">
              <string/>
             </property>
             <layout class="QHBoxLayout" name="horizontalLayout_2">
              <item>
               <layout class="QGridLayout" name="gridLayout_4">
                <item row="0" column="1" colspan="2">
                 <widget class="QPushButton" name="useComputedValues">
                  <property name="styleSheet">
                   <string notr="true"/>
                  </property>
                  <property name="text">
                   <string>Apply Computed Values</string>
                  </property>
                 </widget>
                </item>
                <item row="1" column="1">
                 <widget class="QLabel" name="label_21">
                  <property name="text">
                   <string>Step Size</string>
                  </property>
                  <property name="alignment">
                   <set>Qt::AlignCenter</set>
                  </property>
                 </widget>
                </item>
                <item row="1" column="2">
                 <widget class="QSlider" name="stepSizeSlider">
                  <property name="orientation">
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                 </widget>
                </item>
                <item row="0" column="3">
                 <spacer name="horizontalSpacer">
                  <property name="orientation">
                   <enum>Qt::Horizontal</enum>
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                  <property name="sizeHint" stdset="0">
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                    <height>20</height>
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                <item row="1" column="0">
                 <spacer name="horizontalSpacer_2">
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                 </spacer>
                </item>
                <item row="2" column="0" colspan="4">
                 <widget class="QLabel" name="label_22">
                  <property name="text">
                   <string>The Apply and Save buttons below save the autotuning settings which
will alter settings for the next autotuning flight</string>
                  </property>
                  <property name="alignment">
                   <set>Qt::AlignCenter</set>
                  </property>
                 </widget>
                </item>
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       <property name="sizeType">
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       <property name="sizeHint" stdset="0">
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         <height>25</height>
        </size>
       </property>
      </spacer>
     </item>
     <item>
      <widget class="QPushButton" name="helpButton">
       <property name="sizePolicy">
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       <property name="minimumSize">
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         <width>25</width>
         <height>25</height>
        </size>
       </property>
       <property name="maximumSize">
        <size>
         <width>25</width>
         <height>25</height>
        </size>
       </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="objrelation" stdset="0">
        <string notr="true">button:help</string>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="reloadButton">
       <property name="minimumSize">
        <size>
         <width>0</width>
         <height>0</height>
        </size>
       </property>
       <property name="toolTip">
        <string>Reloads the saved settings into GCS.
Useful if you have accidentally changed some settings.</string>
       </property>
       <property name="styleSheet">
        <string notr="true"/>
       </property>
       <property name="text">
        <string>Reload Board Data</string>
       </property>
       <property name="objrelation" stdset="0">
        <stringlist notr="true">
         <string>button:reload</string>
         <string>buttongroup:10</string>
        </stringlist>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="applyButton">
       <property name="minimumSize">
        <size>
         <width>0</width>
         <height>0</height>
        </size>
       </property>
       <property name="toolTip">
        <string>Send settings to the board but do not save to the non-volatile memory</string>
       </property>
       <property name="styleSheet">
        <string notr="true"/>
       </property>
       <property name="text">
        <string>Apply</string>
       </property>
       <property name="objrelation" stdset="0">
        <stringlist notr="true">
         <string>button:apply</string>
        </stringlist>
       </property>
      </widget>
     </item>
     <item>
      <widget class="QPushButton" name="saveButton">
       <property name="minimumSize">
        <size>
         <width>0</width>
         <height>0</height>
        </size>
       </property>
       <property name="toolTip">
        <string>Send settings to the board and save to the non-volatile memory</string>
       </property>
       <property name="styleSheet">
        <string notr="true"/>
       </property>
       <property name="text">
        <string>Save</string>
       </property>
       <property name="objrelation" stdset="0">
        <stringlist notr="true">
         <string>button:save</string>
        </stringlist>
       </property>
      </widget>
     </item>
    </layout>
   </item>
  </layout>
 </widget>
 <resources>
  <include location="../coreplugin/core.qrc"/>
 </resources>
 <connections/>
</ui>
