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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>AutotuneWidget</class>
<widget class="QWidget" name="AutotuneWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
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<width>739</width>
<height>688</height>
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</rect>
</property>
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<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
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<property name="windowTitle">
<string>Form</string>
</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
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<number>6</number>
</property>
<property name="margin">
<number>12</number>
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</property>
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<item>
<widget class="QTabWidget" name="Autotune_tabs">
<property name="currentIndex">
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<number>0</number>
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</property>
<widget class="QWidget" name="Preautotune_tab">
<attribute name="title">
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<string>Pre-Autotune</string>
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</attribute>
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<layout class="QGridLayout" name="gridLayout_5">
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<property name="margin">
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<number>12</number>
</property>
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<item row="3" column="0" colspan="3">
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<widget class="QTextEdit" name="textEdit">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="html">
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
p, li { white-space: pre-wrap; }
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</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
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<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
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<p style="-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;"></p>
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">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 </span><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> for it creating bad tuning values.
<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">On the <span style=" font-style:italic;">Input configuration</span> tab, <span style=" font-style:italic;">Flight Mode Switch Settings</span>, set one of your flight modes to &quot;Autotune&quot;.<br /></li>
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, change flight mode to autotune, keep it in the air while it's shaking.<br /></li>
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm.
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">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).<br /></li>
<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly the new settings.</li>
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<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the <span style=" font-style:italic;">Enable Autotune Module</span> checkbox above this text, click <span style=" font-style:italic;">save</span> and go to the next tab.</li></ul></body></html></string>
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</property>
</widget>
</item>
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<item row="2" column="0" colspan="3">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>Module Control</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_4">
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<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>
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<widget class="QLabel" name="label_13">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
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</property>
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</widget>
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</item>
</layout>
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</widget>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="autotune_tab">
<attribute name="title">
<string>Autotune Setup</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="palette">
<palette>
<active>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
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<width>709</width>
<height>605</height>
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</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="autoFillBackground">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>12</number>
</property>
<property name="margin">
<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">
<stringlist>
<string>objname:RelayTuningSettings</string>
<string>fieldname:RateGain</string>
<string>scale:0.01</string>
<string>haslimits:no</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSlider" name="attitudeTuning">
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:RelayTuningSettings</string>
<string>fieldname:AttitudeGain</string>
<string>scale:0.01</string>
<string>haslimits:no</string>
</stringlist>
</property>
</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>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:RelayTuning</string>
<string>fieldname:Period</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="measuredRollGain">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:RelayTuning</string>
<string>fieldname:Gain</string>
<string>element:Roll</string>
</stringlist>
</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>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:RelayTuning</string>
<string>fieldname:Period</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="measuredPitchGain">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:RelayTuning</string>
<string>fieldname:Gain</string>
<string>element:Pitch</string>
</stringlist>
</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">
<string>0</string>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="pitchAttitudeKi">
<property name="text">
<string>0</string>
</property>
</widget>
</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">
<string>0</string>
</property>
</widget>
</item>
</layout>
</widget>
</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">
<enum>Qt::Horizontal</enum>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:RelayTuningSettings</string>
<string>fieldname:Amplitude</string>
<string>scale:0.01</string>
<string>haslimits:no</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="3">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item 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>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>77</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
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</widget>
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</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="spacing">
<number>4</number>
</property>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="stabilizationReloadBoardData_6">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Reloads the saved settings into GCS.
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Useful if you have accidentally changed some settings.</string>
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</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Reload Board Data</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>button:reload</string>
<string>buttongroup:10</string>
</stringlist>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveStabilizationToRAM_6">
<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>
<string>button:apply</string>
</stringlist>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveStabilizationToSD_6">
<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>
<string>button:save</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</item>
</layout>
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</widget>
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<resources/>
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<connections/>
</ui>
