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Code Issues Releases Activity

Merge remote-tracking branch 'origin/laurent/OP-1466_Heli_config_tab' into rel-15.02

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This commit is contained in:
Laurent Lalanne 2015-02-27 23:05:47 +01:00
commit 39ed1b0b45
4 changed files with 1713 additions and 1516 deletions
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2524
ground/openpilotgcs/src/plugins/config/airframe_ccpm.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>850</width>
<height>572</height>
<height>694</height>
</rect>
</property>
<property name="sizePolicy">
@ -29,7 +29,16 @@
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_17">
<property name="margin">
<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 row="0" column="0">
@ -92,7 +101,7 @@
<string notr="true">#SwashplateBox,#SwashplateBox_2,#SwashplateBox_3,#SwashplateBox_4,#ccpmSwashImageBox,#SwashLvlInstructionsBox,#SwashLvlccpmSwashImageBox,#SwashLvlccpmSliderBox,#SwashLvlStatusBox,#ThrottleCurveBox,#PitchCurveBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
border-radius: 6;
font:bold;
}
@ -100,16 +109,14 @@ QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
top: 5px;
}</string>
</property>
<property name="tabShape">
<enum>QTabWidget::Rounded</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<property name="documentMode">
<bool>false</bool>
@ -119,42 +126,969 @@ QGroupBox::title {
<string>Basic settings</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_6">
<property name="margin">
<property name="leftMargin">
<number>9</number>
</property>
<property name="topMargin">
<number>9</number>
</property>
<property name="rightMargin">
<number>9</number>
</property>
<property name="bottomMargin">
<number>9</number>
</property>
<property name="spacing">
<number>6</number>
</property>
<item row="0" column="0">
<layout class="QVBoxLayout" name="ccpmSettingsBox" stretch="0,1,1,0,0">
<item row="0" column="4">
<widget class="QGroupBox" name="ccpmSwashImageBox">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="title">
<string>Swashplate Layout</string>
</property>
<property name="alignment">
<set>Qt::AlignHCenter|Qt::AlignTop</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_10">
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>30</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<property name="horizontalSpacing">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QSplitter" name="splitter_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QGraphicsView" name="SwashplateImage">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="frameShape">
<enum>QFrame::Box</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="DiagCrossPattern">
<color alpha="50">
<red>112</red>
<green>184</green>
<blue>138</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>127</red>
<green>127</green>
<blue>127</blue>
</color>
</brush>
</property>
<property name="sceneRect">
<rectf>
<x>0.000000000000000</x>
<y>0.000000000000000</y>
<width>400.000000000000000</width>
<height>400.000000000000000</height>
</rectf>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="resizeAnchor">
<enum>QGraphicsView::AnchorViewCenter</enum>
</property>
</widget>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="3">
<layout class="QHBoxLayout" name="horizontalLayout_10">
<property name="sizeConstraint">
<enum>QLayout::SetMaximumSize</enum>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<widget class="QGroupBox" name="SwashplateBox_2">
<widget class="QGroupBox" name="ccpmRevoMixingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>REVO</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<widget class="QLabel" name="label_14">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>100%</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QSlider" name="ccpmRevoSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_13">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>0%</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="ccpmREVOspinBox"/>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmPitchMixingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>CCPM</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>10</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<widget class="QLabel" name="label_15">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>Collective</string>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QSlider" name="ccpmCollectiveSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_16">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>Cyclic</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="ccpmCollectivespinBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmCollectiveScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Collective</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_12">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>20</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<widget class="QSlider" name="ccpmCollectiveScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmCollectiveScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmCyclicScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Cyclic</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>20</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<widget class="QSlider" name="ccpmCyclicScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmCyclicScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmPitchScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>20</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QSlider" name="ccpmPitchScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmPitchScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmRollScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>20</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QSlider" name="ccpmRollScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmRollScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<layout class="QVBoxLayout" name="ccpmSettingsBox" stretch="0,1,1,0">
<item>
<widget class="QGroupBox" name="SwashplateBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Motor outputs</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_18">
<property name="horizontalSpacing">
<property name="leftMargin">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
<property name="topMargin">
<number>30</number>
</property>
<property name="margin">
<property name="rightMargin">
<number>3</number>
</property>
<item row="2" column="1">
<property name="bottomMargin">
<number>3</number>
</property>
<property name="spacing">
<number>3</number>
</property>
<item row="1" column="1">
<widget class="QComboBox" name="ccpmTailChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@ -171,12 +1105,12 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="0" column="1">
<widget class="QComboBox" name="ccpmEngineChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@ -193,12 +1127,12 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="1" column="0">
<widget class="QLabel" name="ccpmTailLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -223,7 +1157,7 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="1" column="0">
<item row="0" column="0">
<widget class="QLabel" name="ccpmEngineLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -248,36 +1182,26 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="SwashplateBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
<verstretch>12</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
@ -285,16 +1209,22 @@ QGroupBox::title {
<string>Swashplate outputs</string>
</property>
<layout class="QGridLayout" name="gridLayout_19">
<property name="horizontalSpacing">
<property name="leftMargin">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
<property name="topMargin">
<number>30</number>
</property>
<property name="margin">
<property name="rightMargin">
<number>3</number>
</property>
<item row="1" column="0">
<property name="bottomMargin">
<number>3</number>
</property>
<property name="spacing">
<number>3</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="ccpmServoWLabel">
<property name="enabled">
<bool>true</bool>
@ -322,7 +1252,7 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="1" column="1">
<item row="0" column="1">
<widget class="QComboBox" name="ccpmServoWChannel">
<property name="enabled">
<bool>true</bool>
@ -342,12 +1272,12 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="1" column="1">
<widget class="QComboBox" name="ccpmServoXChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -364,12 +1294,12 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="3" column="1">
<widget class="QComboBox" name="ccpmServoYChannel">
<property name="enabled">
<bool>true</bool>
@ -389,12 +1319,12 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="1" column="0">
<widget class="QLabel" name="ccpmServoXLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -419,7 +1349,7 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="6" column="1">
<item row="5" column="1">
<widget class="QComboBox" name="ccpmSingleServo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@ -461,7 +1391,7 @@ QGroupBox::title {
</item>
</widget>
</item>
<item row="6" column="0">
<item row="5" column="0">
<widget class="QLabel" name="ccpmServoZLabel_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -486,7 +1416,7 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="5" column="1">
<item row="4" column="1">
<widget class="QComboBox" name="ccpmServoZChannel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@ -503,12 +1433,12 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="4" column="0">
<widget class="QLabel" name="ccpmServoZLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@ -533,7 +1463,7 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QLabel" name="ccpmServoYLabel">
<property name="enabled">
<bool>true</bool>
@ -561,117 +1491,51 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="SwashplateBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<width>200</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Swashplate Servo Angles</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_20">
<property name="horizontalSpacing">
<property name="leftMargin">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
<property name="topMargin">
<number>30</number>
</property>
<property name="margin">
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<property name="spacing">
<number>3</number>
</property>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleW">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="ccpmServoWLabel_2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Angle W</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="ccpmServoXLabel_2">
<property name="sizePolicy">
@ -798,7 +1662,7 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
<property name="decimals">
@ -832,7 +1696,7 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
<property name="decimals">
@ -863,7 +1727,7 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
<property name="decimals">
@ -894,7 +1758,7 @@ QGroupBox::title {
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
<height>25</height>
</size>
</property>
<property name="decimals">
@ -908,21 +1772,64 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_7">
<property name="orientation">
<enum>Qt::Vertical</enum>
<item row="1" column="0">
<widget class="QLabel" name="ccpmServoWLabel_2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="sizeHint" stdset="0">
<property name="minimumSize">
<size>
<width>20</width>
<height>20</height>
<width>80</width>
<height>0</height>
</size>
</property>
</spacer>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Angle W</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="ccpmAngleW">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>25</height>
</size>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>15.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
@ -930,14 +1837,20 @@ QGroupBox::title {
<item>
<widget class="QGroupBox" name="SwashplateBox_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
@ -945,23 +1858,29 @@ QGroupBox::title {
<string>CCPM Options</string>
</property>
<layout class="QGridLayout" name="gridLayout_21">
<property name="horizontalSpacing">
<property name="leftMargin">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
<property name="topMargin">
<number>30</number>
</property>
<property name="margin">
<property name="rightMargin">
<number>3</number>
</property>
<item row="2" column="0">
<property name="bottomMargin">
<number>3</number>
</property>
<property name="spacing">
<number>3</number>
</property>
<item row="1" column="0">
<widget class="QCheckBox" name="ccpmCollectivePassthrough">
<property name="text">
<string>Collective Pass through</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="ccpmLinkRoll">
<property name="text">
<string>Link Roll/Pitch</string>
@ -971,7 +1890,7 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="ccpmLinkCyclic">
<property name="text">
<string>Link Cyclic/Collective</string>
@ -981,895 +1900,6 @@ QGroupBox::title {
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<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>
</item>
<item row="0" column="10">
<layout class="QVBoxLayout" name="ccpmSwashImageBox_2">
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="ccpmSwashImageBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>600</width>
<height>600</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="title">
<string>Swashplate Layout</string>
</property>
<property name="alignment">
<set>Qt::AlignHCenter|Qt::AlignTop</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_10">
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<widget class="QSplitter" name="splitter_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QGraphicsView" name="SwashplateImage">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>1000</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
<property name="baseSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="frameShape">
<enum>QFrame::Box</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="backgroundBrush">
<brush brushstyle="DiagCrossPattern">
<color alpha="50">
<red>112</red>
<green>184</green>
<blue>138</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>127</red>
<green>127</green>
<blue>127</blue>
</color>
</brush>
</property>
<property name="sceneRect">
<rectf>
<x>0.000000000000000</x>
<y>0.000000000000000</y>
<width>400.000000000000000</width>
<height>400.000000000000000</height>
</rectf>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="resizeAnchor">
<enum>QGraphicsView::AnchorViewCenter</enum>
</property>
</widget>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</item>
<item row="0" column="3">
<layout class="QHBoxLayout" name="horizontalLayout_10">
<property name="sizeConstraint">
<enum>QLayout::SetNoConstraint</enum>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<widget class="QGroupBox" name="ccpmRevoMixingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>REVO</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<widget class="QLabel" name="label_14">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>100%</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QSlider" name="ccpmRevoSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_13">
<property name="enabled">
<bool>false</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>0%</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="ccpmREVOspinBox"/>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmPitchMixingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>60</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>CCPM</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<widget class="QLabel" name="label_15">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>Collective</string>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QSlider" name="ccpmCollectiveSlider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_16">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>Cyclic</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="ccpmCollectivespinBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmCollectiveScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Collective</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_12">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<widget class="QSlider" name="ccpmCollectiveScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmCollectiveScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmCyclicScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Cyclic</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<widget class="QSlider" name="ccpmCyclicScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmCyclicScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmPitchScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QSlider" name="ccpmPitchScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmPitchScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="ccpmRollScalingBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>100</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
</size>
</property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox::title {
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;
}</string>
</property>
<property name="title">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QSlider" name="ccpmRollScale">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>100</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSpinBox" name="ccpmRollScaleBox">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -1882,7 +1912,16 @@ margin:1px;
<string>Swashplate Levelling</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_8">
<property name="margin">
<property name="leftMargin">
<number>9</number>
</property>
<property name="topMargin">
<number>9</number>
</property>
<property name="rightMargin">
<number>9</number>
</property>
<property name="bottomMargin">
<number>9</number>
</property>
<property name="spacing">
@ -1890,13 +1929,16 @@ margin:1px;
</property>
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_8">
<property name="spacing">
<number>6</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<item>
<widget class="QGroupBox" name="SwashLvlInstructionsBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -1904,43 +1946,70 @@ margin:1px;
<property name="minimumSize">
<size>
<width>228</width>
<height>0</height>
<height>200</height>
</size>
</property>
<property name="title">
<string>Commands</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="margin">
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_16">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_9">
<property name="spacing">
<number>0</number>
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>30</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<widget class="QPushButton" name="SwashLvlPrevButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>85</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Prev</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="SwashLvlStartButton">
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
<height>20</height>
</size>
</property>
<property name="maximumSize">
@ -1962,7 +2031,7 @@ margin:1px;
<property name="minimumSize">
<size>
<width>85</width>
<height>0</height>
<height>20</height>
</size>
</property>
<property name="maximumSize">
@ -1980,18 +2049,27 @@ margin:1px;
</item>
<item>
<widget class="QTextEdit" name="SwashLvlStepInstruction">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
<width>250</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>220</width>
<height>450</height>
<width>500</width>
<height>800</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QTextEdit { padding-left:4; padding-top:4; padding-bottom:4; padding-right:4}</string>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
@ -2002,37 +2080,21 @@ margin:1px;
</item>
<item>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QPushButton" name="SwashLvlCancelButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>170</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>170</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Cancel</string>
</property>
</widget>
</item>
<item row="1" column="0">
<property name="topMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item row="2" column="0">
<widget class="QPushButton" name="SwashLvlFinishButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>170</width>
<height>0</height>
<width>85</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
@ -2046,6 +2108,28 @@ margin:1px;
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="SwashLvlCancelButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>85</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>170</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Cancel</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@ -2054,7 +2138,7 @@ margin:1px;
<item>
<widget class="QGroupBox" name="SwashLvlStatusBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Maximum">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -2062,36 +2146,78 @@ margin:1px;
<property name="minimumSize">
<size>
<width>200</width>
<height>0</height>
<height>130</height>
</size>
</property>
<property name="title">
<string>Status</string>
</property>
<layout class="QGridLayout" name="gridLayout_22">
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>30</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<property name="horizontalSpacing">
<number>3</number>
</property>
<property name="verticalSpacing">
<number>2</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<item row="0" column="0">
<widget class="QListWidget" name="SwashLvlStepList">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>220</width>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>190</width>
<height>125</height>
<width>100</width>
<height>92</height>
</size>
</property>
<property name="cursor" stdset="0">
<cursorShape>ArrowCursor</cursorShape>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="lineWidth">
<number>0</number>
</property>
<property name="midLineWidth">
<number>0</number>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="autoScrollMargin">
<number>16</number>
</property>
<property name="editTriggers">
<set>QAbstractItemView::NoEditTriggers</set>
</property>
@ -2104,6 +2230,9 @@ margin:1px;
<property name="selectionBehavior">
<enum>QAbstractItemView::SelectRows</enum>
</property>
<property name="viewMode">
<enum>QListView::ListMode</enum>
</property>
<item>
<property name="text">
<string>Neutral</string>
@ -2152,41 +2281,9 @@ margin:1px;
</item>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_19">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<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>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="0" column="1">
@ -2195,7 +2292,7 @@ margin:1px;
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -2203,13 +2300,13 @@ margin:1px;
<property name="minimumSize">
<size>
<width>70</width>
<height>100</height>
<height>250</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>600</height>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="title">
@ -2220,27 +2317,20 @@ margin:1px;
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item>
<spacer name="verticalSpacer_18">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>30</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<widget class="QLabel" name="label_17">
<property name="enabled">
@ -2338,7 +2428,7 @@ margin:1px;</string>
<item row="0" column="2">
<widget class="QGroupBox" name="SwashLvlccpmSwashImageBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>1</horstretch>
<verstretch>1</verstretch>
</sizepolicy>
@ -2346,13 +2436,13 @@ margin:1px;</string>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
<height>300</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>600</width>
<height>600</height>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="sizeIncrement">
@ -2380,13 +2470,22 @@ margin:1px;</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_11">
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>30</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<property name="horizontalSpacing">
<number>3</number>
<number>6</number>
</property>
<property name="margin">
<number>3</number>
</property>
<item row="1" column="0">
<item row="0" column="0">
<widget class="QSplitter" name="splitter_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -2400,8 +2499,8 @@ margin:1px;</string>
</property>
<property name="minimumSize">
<size>
<width>10</width>
<height>10</height>
<width>250</width>
<height>300</height>
</size>
</property>
<property name="maximumSize">
@ -2475,22 +2574,6 @@ margin:1px;</string>
</widget>
</widget>
</item>
<item row="0" column="0">
<spacer name="verticalSpacer_17">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@ -2501,7 +2584,16 @@ margin:1px;</string>
<string>Curve settings</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_7">
<property name="margin">
<property name="leftMargin">
<number>9</number>
</property>
<property name="topMargin">
<number>9</number>
</property>
<property name="rightMargin">
<number>9</number>
</property>
<property name="bottomMargin">
<number>9</number>
</property>
<property name="spacing">
@ -2554,7 +2646,16 @@ margin:1px;</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<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>
<property name="spacing">
@ -2627,7 +2728,16 @@ margin:1px;</string>
<string/>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<property name="margin">
<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>
<property name="spacing">
@ -2695,7 +2805,16 @@ margin:1px;</string>
<string>Advanced settings</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_4">
<property name="margin">
<property name="leftMargin">
<number>9</number>
</property>
<property name="topMargin">
<number>9</number>
</property>
<property name="rightMargin">
<number>9</number>
</property>
<property name="bottomMargin">
<number>9</number>
</property>
<property name="spacing">
@ -3140,7 +3259,6 @@ margin:1px;</string>
<tabstop>ccpmServoYChannel</tabstop>
<tabstop>ccpmServoZChannel</tabstop>
<tabstop>ccpmSingleServo</tabstop>
<tabstop>ccpmAngleW</tabstop>
<tabstop>ccpmAngleX</tabstop>
<tabstop>ccpmAngleY</tabstop>
<tabstop>ccpmAngleZ</tabstop>
@ -3150,9 +3268,7 @@ margin:1px;</string>
<tabstop>ccpmCollectiveSlider</tabstop>
<tabstop>ccpmCollectivespinBox</tabstop>
<tabstop>SwashplateImage</tabstop>
<tabstop>SwashLvlStartButton</tabstop>
<tabstop>SwashLvlNextButton</tabstop>
<tabstop>SwashLvlStepInstruction</tabstop>
<tabstop>SwashLvlCancelButton</tabstop>
<tabstop>SwashLvlFinishButton</tabstop>
<tabstop>SwashLvlStepList</tabstop>

138
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -40,8 +40,6 @@
#include <math.h>
#define Pi 3.14159265358979323846
QStringList ConfigCcpmWidget::getChannelDescriptions()
{
// init a channel_numelem list of channel desc defaults
@ -181,16 +179,19 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) :
Servos[i] = new QGraphicsSvgItem();
Servos[i]->setSharedRenderer(renderer);
Servos[i]->setElementId(ServoNames.at(i));
Servos[i]->setZValue(20);
m_aircraft->SwashplateImage->scene()->addItem(Servos[i]);
ServosText[i] = new QGraphicsTextItem();
ServosText[i]->setDefaultTextColor(Qt::yellow);
ServosText[i]->setPlainText(QString("-"));
ServosText[i]->setFont(serifFont);
ServosText[i]->setZValue(31);
ServosTextCircles[i] = new QGraphicsEllipseItem(1, 1, 30, 30);
ServosTextCircles[i]->setBrush(brush);
ServosTextCircles[i]->setPen(pen2);
ServosTextCircles[i]->setZValue(30);
m_aircraft->SwashplateImage->scene()->addItem(ServosTextCircles[i]);
m_aircraft->SwashplateImage->scene()->addItem(ServosText[i]);
@ -257,6 +258,7 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) :
connect(m_aircraft->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed()));
connect(m_aircraft->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed()));
connect(m_aircraft->SwashLvlPrevButton, SIGNAL(clicked()), this, SLOT(SwashLvlPrevButtonPressed()));
connect(m_aircraft->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
connect(m_aircraft->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
@ -391,9 +393,13 @@ void ConfigCcpmWidget::UpdateType()
TypeText = m_aircraft->ccpmType->currentText();
SingleServoIndex = m_aircraft->ccpmSingleServo->currentIndex();
// set visibility of user settings
// set visibility of user settings (When Custom)
m_aircraft->ccpmAdvancedSettingsTable->setEnabled(TypeInt == 0);
// Clear advanced settings table if not Custom selected (Keep previous settings)
if (TypeText.compare(QString::fromUtf8("Custom - Advanced Settings"), Qt::CaseInsensitive) != 0) {
m_aircraft->ccpmAdvancedSettingsTable->clearFocus();
}
m_aircraft->ccpmAngleW->setEnabled(TypeInt == 1);
m_aircraft->ccpmAngleX->setEnabled(TypeInt == 1);
@ -552,15 +558,19 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw()
QRect size;
double scale, xscale, yscale;
size = m_aircraft->SwashplateImage->rect();
// If size = default, get size from other Img/tab
if (size.width() == 100) {
size = m_aircraft->SwashLvlSwashplateImage->rect();
}
size = m_aircraft->SwashplateImage->rect();
xscale = size.width();
yscale = size.height();
scale = xscale;
if (yscale < scale) {
scale = yscale;
}
scale /= 460.00;
scale /= 540.00;
m_aircraft->SwashplateImage->resetTransform();
m_aircraft->SwashplateImage->scale(scale, scale);
@ -592,10 +602,10 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw()
used[1] = ((m_aircraft->ccpmServoXChannel->currentIndex() > 0) && (m_aircraft->ccpmServoXChannel->isEnabled()));
used[2] = ((m_aircraft->ccpmServoYChannel->currentIndex() > 0) && (m_aircraft->ccpmServoYChannel->isEnabled()));
used[3] = ((m_aircraft->ccpmServoZChannel->currentIndex() > 0) && (m_aircraft->ccpmServoZChannel->isEnabled()));
angle[0] = (CorrectionAngle + 180 + m_aircraft->ccpmAngleW->value()) * Pi / 180.00;
angle[1] = (CorrectionAngle + 180 + m_aircraft->ccpmAngleX->value()) * Pi / 180.00;
angle[2] = (CorrectionAngle + 180 + m_aircraft->ccpmAngleY->value()) * Pi / 180.00;
angle[3] = (CorrectionAngle + 180 + m_aircraft->ccpmAngleZ->value()) * Pi / 180.00;
angle[0] = (CorrectionAngle + 180 + m_aircraft->ccpmAngleW->value()) * M_PI / 180.00;
angle[1] = (CorrectionAngle + 180 + m_aircraft->ccpmAngleX->value()) * M_PI / 180.00;
angle[2] = (CorrectionAngle + 180 + m_aircraft->ccpmAngleY->value()) * M_PI / 180.00;
angle[3] = (CorrectionAngle + 180 + m_aircraft->ccpmAngleZ->value()) * M_PI / 180.00;
for (i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) {
@ -640,16 +650,16 @@ void ConfigCcpmWidget::ccpmSwashplateRedraw()
ServoLines[i]->setVisible(defined[i] != 0);
}
// m_aircraft->SwashplateImage->centerOn (CenterX, CenterY);
// m_aircraft->SwashplateImage->centerOn(CenterX, CenterY);
// m_aircraft->SwashplateImage->fitInView(SwashplateImg, Qt::KeepAspectRatio);
}
void ConfigCcpmWidget::ccpmSwashplateUpdate()
{
ccpmSwashplateRedraw();
SetUIComponentVisibilities();
UpdateMixer();
SetUIComponentVisibilities();
ccpmSwashplateRedraw();
}
void ConfigCcpmWidget::UpdateMixer()
@ -685,8 +695,8 @@ void ConfigCcpmWidget::UpdateMixer()
;
}
}
if (config.heli.SwashplateType > 0) { // not advanced settings
int TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
if (TypeInt != 0) { // not advanced settings
// get the channel data from the ui
MixerChannelData[0] = m_aircraft->ccpmEngineChannel->currentIndex();
MixerChannelData[1] = m_aircraft->ccpmTailChannel->currentIndex();
@ -762,11 +772,11 @@ void ConfigCcpmWidget::UpdateMixer()
table->item(i, 3)->setText(
QString("%1").arg(
(int)(127.0 * (RollConstant)
* sin((180 + config.heli.CorrectionAngle + ThisAngle[i]) * Pi / 180.00)))); // Roll
* sin((180 + config.heli.CorrectionAngle + ThisAngle[i]) * M_PI / 180.00)))); // Roll
table->item(i, 4)->setText(
QString("%1").arg(
(int)(127.0 * (PitchConstant)
* cos((config.heli.CorrectionAngle + ThisAngle[i]) * Pi / 180.00)))); // Pitch
* cos((config.heli.CorrectionAngle + ThisAngle[i]) * M_PI / 180.00)))); // Pitch
// Yaw
table->item(i, 5)->setText(QString("%1").arg(0));
}
@ -779,13 +789,14 @@ void ConfigCcpmWidget::UpdateMixer()
} else {
// advanced settings
QTableWidget *table = m_aircraft->ccpmAdvancedSettingsTable;
for (int i = 0; i < 6; i++) {
Channel = table->item(i, 0)->text();
if (Channel == "-") {
Channel = QString("9");
Channel = QString((int)ConfigCcpmWidget::CHANNEL_NUMELEM + 1);
}
MixerChannelData[i] = Channel.toInt();
}
}
}
}
@ -874,6 +885,15 @@ void ConfigCcpmWidget::SetUIComponentVisibilities()
m_aircraft->ccpmRollScalingBox->setVisible(!m_aircraft->ccpmLinkRoll->isChecked());
m_aircraft->ccpmLinkRoll->setVisible(1);
}
// clear status check boxes
m_aircraft->SwashLvlStepList->item(0)->setCheckState(Qt::Unchecked);
m_aircraft->SwashLvlStepList->item(1)->setCheckState(Qt::Unchecked);
m_aircraft->SwashLvlStepList->item(2)->setCheckState(Qt::Unchecked);
m_aircraft->SwashLvlStepList->item(3)->setCheckState(Qt::Unchecked);
m_aircraft->SwashLvlStepList->item(0)->setBackground(Qt::transparent);
m_aircraft->SwashLvlStepList->item(1)->setBackground(Qt::transparent);
m_aircraft->SwashLvlStepList->item(2)->setBackground(Qt::transparent);
m_aircraft->SwashLvlStepList->item(3)->setBackground(Qt::transparent);
}
/**
@ -939,16 +959,20 @@ void ConfigCcpmWidget::setMixer()
UpdateMixer();
// Set up some helper pointers
qint8 *mixers[8] = { mixerSettingsData.Mixer1Vector,
mixerSettingsData.Mixer2Vector,
mixerSettingsData.Mixer3Vector,
mixerSettingsData.Mixer4Vector,
mixerSettingsData.Mixer5Vector,
mixerSettingsData.Mixer6Vector,
mixerSettingsData.Mixer7Vector,
mixerSettingsData.Mixer8Vector };
qint8 *mixers[12] = { mixerSettingsData.Mixer1Vector,
mixerSettingsData.Mixer2Vector,
mixerSettingsData.Mixer3Vector,
mixerSettingsData.Mixer4Vector,
mixerSettingsData.Mixer5Vector,
mixerSettingsData.Mixer6Vector,
mixerSettingsData.Mixer7Vector,
mixerSettingsData.Mixer8Vector,
mixerSettingsData.Mixer9Vector,
mixerSettingsData.Mixer10Vector,
mixerSettingsData.Mixer11Vector,
mixerSettingsData.Mixer12Vector };
quint8 *mixerTypes[8] = {
quint8 *mixerTypes[12] = {
&mixerSettingsData.Mixer1Type,
&mixerSettingsData.Mixer2Type,
&mixerSettingsData.Mixer3Type,
@ -956,17 +980,20 @@ void ConfigCcpmWidget::setMixer()
&mixerSettingsData.Mixer5Type,
&mixerSettingsData.Mixer6Type,
&mixerSettingsData.Mixer7Type,
&mixerSettingsData.Mixer8Type
&mixerSettingsData.Mixer8Type,
&mixerSettingsData.Mixer9Type,
&mixerSettingsData.Mixer10Type,
&mixerSettingsData.Mixer11Type,
&mixerSettingsData.Mixer12Type
};
// reset all to Disabled
for (i = 0; i < 8; i++) {
*mixerTypes[i] = 0;
}
// go through the user data and update the mixer matrix
for (i = 0; i < 6; i++) {
if (MixerChannelData[i] > 0) {
if ((MixerChannelData[i] > 0) && (MixerChannelData[i] < (int)ConfigCcpmWidget::CHANNEL_NUMELEM + 1)) {
// Set the mixer type. If Coax, then first two are motors. Otherwise, only first is motor
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
*(mixerTypes[MixerChannelData[i] - 1]) = i > 1 ?
@ -977,7 +1004,6 @@ void ConfigCcpmWidget::setMixer()
MixerSettings::MIXER1TYPE_SERVO :
MixerSettings::MIXER1TYPE_MOTOR;
}
// Configure the vector
for (j = 0; j < 5; j++) {
mixers[MixerChannelData[i] - 1][j] = m_aircraft->ccpmAdvancedSettingsTable->item(i, j + 1)->text().toInt();
@ -1052,8 +1078,8 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed()
QMessageBox msgBox;
int i;
msgBox.setText("<h1>Swashplate Leveling Routine</h1>");
msgBox.setInformativeText("<b>You are about to start the Swashplate levelling routine.</b><p>This process will start by downloading the current configuration from the GCS to the OP hardware and will adjust your configuration at various stages.<p>The final state of your system should match the current configuration in the GCS config gadget.<p>Please ensure all ccpm settings in the GCS are correct before continuing.<p>If this process is interrupted, then the state of your OP board may not match the GCS configuration.<p><i>After completing this process, please check all settings before attempting to fly.</i><p><font color=red><b>Please disconnect your motor to ensure it will not spin up.</b></font><p><hr><i>Do you wish to proceed?</i>");
msgBox.setText(tr("<h1>Swashplate Leveling Routine</h1>"));
msgBox.setInformativeText(tr("<b>You are about to start the Swashplate levelling routine.</b><p>This process will start by downloading the current configuration from the GCS to the OP hardware and will adjust your configuration at various stages.<p>The final state of your system should match the current configuration in the GCS config gadget.</p><p>Please ensure all ccpm settings in the GCS are correct before continuing.</p><p>If this process is interrupted, then the state of your OP board may not match the GCS configuration.</p><p><i>After completing this process, please check all settings before attempting to fly.</i></p><p><font color=red><b>Please disconnect your motor to ensure it will not spin up.</b></font><p><hr><i>Do you wish to proceed?</i></p>"));
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
msgBox.setDefaultButton(QMessageBox::Cancel);
msgBox.setIcon(QMessageBox::Information);
@ -1075,6 +1101,7 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed()
m_aircraft->SwashLvlStartButton->setEnabled(false);
m_aircraft->SwashLvlNextButton->setEnabled(true);
m_aircraft->SwashLvlPrevButton->setEnabled(false);
m_aircraft->SwashLvlCancelButton->setEnabled(true);
m_aircraft->SwashLvlFinishButton->setEnabled(false);
// clear status check boxes
@ -1136,6 +1163,7 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed()
m_aircraft->SwashLvlStartButton->setEnabled(true);
m_aircraft->SwashLvlNextButton->setEnabled(false);
m_aircraft->SwashLvlPrevButton->setEnabled(false);
m_aircraft->SwashLvlCancelButton->setEnabled(false);
m_aircraft->SwashLvlFinishButton->setEnabled(false);
break;
@ -1145,15 +1173,24 @@ void ConfigCcpmWidget::SwashLvlStartButtonPressed()
}
}
void ConfigCcpmWidget::SwashLvlPrevButtonPressed()
{
SwashLvlState--;
SwashLvlPrevNextButtonPressed();
}
void ConfigCcpmWidget::SwashLvlNextButtonPressed()
{
// ShowDisclaimer(2);
SwashLvlState++;
SwashLvlPrevNextButtonPressed();
}
void ConfigCcpmWidget::SwashLvlPrevNextButtonPressed()
{
switch (SwashLvlState) {
case 0:
break;
case 1: // Neutral levelling
m_aircraft->SwashLvlPrevButton->setEnabled(false);
m_aircraft->SwashLvlStepList->setCurrentRow(0);
// set spin boxes and swashplate servos to Neutral values
setSwashplateLevel(50);
@ -1170,9 +1207,10 @@ void ConfigCcpmWidget::SwashLvlNextButtonPressed()
}
// issue user instructions
m_aircraft->SwashLvlStepInstruction->setHtml(
"<h2>Neutral levelling</h2><p>Using adjustment of:<ul><li>servo horns<li>link lengths and<li>Neutral timing spinboxes to the right</ul><br>ensure that the swashplate is in the center of desired travel range and is level.");
tr("<h2>Neutral levelling</h2><p>Using adjustment of:<ul><li>Servo horns,</li><li>Link lengths,</li><li>Neutral triming spinboxes to the right</li></ul><br>Ensure that the swashplate is in the center of desired travel range and is level."));
break;
case 2: // Max levelling
m_aircraft->SwashLvlPrevButton->setEnabled(true);
// check Neutral status as complete
m_aircraft->SwashLvlStepList->item(0)->setCheckState(Qt::Checked);
m_aircraft->SwashLvlStepList->setCurrentRow(1);
@ -1183,7 +1221,7 @@ void ConfigCcpmWidget::SwashLvlNextButtonPressed()
m_aircraft->SwashLvlPositionSpinBox->setValue(100);
// issue user instructions
m_aircraft->SwashLvlStepInstruction->setText(
"<h2>Max levelling</h2><p>Using adjustment of:<ul><li>Max timing spinboxes to the right ONLY</ul><br>ensure that the swashplate is at the top of desired travel range and is level.");
tr("<h2>Max levelling</h2><p>Using adjustment of:<ul><li>Max triming spinboxes to the right ONLY</li></ul><br>Ensure that the swashplate is at the top of desired travel range and is level."));
break;
case 3: // Min levelling
// check Max status as complete
@ -1196,10 +1234,11 @@ void ConfigCcpmWidget::SwashLvlNextButtonPressed()
m_aircraft->SwashLvlPositionSpinBox->setValue(0);
// issue user instructions
m_aircraft->SwashLvlStepInstruction->setText(
"<h2>Min levelling</h2><p>Using adjustment of:<ul><li>Min timing spinboxes to the right ONLY</ul><br>ensure that the swashplate is at the bottom of desired travel range and is level.");
tr("<h2>Min levelling</h2><p>Using adjustment of:<ul><li>Min triming spinboxes to the right ONLY</li></ul><br>Ensure that the swashplate is at the bottom of desired travel range and is level."));
break;
case 4: // levelling verification
// check Min status as complete
m_aircraft->SwashLvlNextButton->setEnabled(true);
m_aircraft->SwashLvlStepList->item(2)->setCheckState(Qt::Checked);
m_aircraft->SwashLvlStepList->setCurrentRow(3);
// enable position slider
@ -1214,14 +1253,14 @@ void ConfigCcpmWidget::SwashLvlNextButtonPressed()
// issue user instructions
m_aircraft->SwashLvlStepInstruction->setText(
"<h2>levelling verification</h2><p>Adjust the slider to the right over it's full range and observe the swashplate motion. It should remain level over the entire range of travel.");
tr("<h2>Levelling verification</h2><p>Adjust the slider to the right over it's full range and observe the swashplate motion. It should remain level over the entire range of travel.</p>"));
break;
case 5: // levelling complete
// check verify status as complete
m_aircraft->SwashLvlStepList->item(3)->setCheckState(Qt::Checked);
// issue user instructions
m_aircraft->SwashLvlStepInstruction->setText(
"<h2>levelling complete</h2><p>Press the Finish button to save these settings to the SD card<p>Press the cancel button to return to the pre-levelling settings");
tr("<h2>Levelling complete</h2><p>Press the Finish button to save these settings to the SD card</p><p>Press the cancel button to return to the pre-levelling settings</p>"));
// disable position slider
m_aircraft->SwashLvlPositionSlider->setEnabled(false);
m_aircraft->SwashLvlPositionSpinBox->setEnabled(false);
@ -1233,6 +1272,7 @@ void ConfigCcpmWidget::SwashLvlNextButtonPressed()
m_aircraft->SwashLvlStartButton->setEnabled(false);
m_aircraft->SwashLvlNextButton->setEnabled(false);
m_aircraft->SwashLvlPrevButton->setEnabled(true);
m_aircraft->SwashLvlCancelButton->setEnabled(true);
m_aircraft->SwashLvlFinishButton->setEnabled(true);
@ -1256,6 +1296,7 @@ void ConfigCcpmWidget::SwashLvlCancelButtonPressed()
m_aircraft->SwashLvlStartButton->setEnabled(true);
m_aircraft->SwashLvlNextButton->setEnabled(false);
m_aircraft->SwashLvlPrevButton->setEnabled(false);
m_aircraft->SwashLvlCancelButton->setEnabled(false);
m_aircraft->SwashLvlFinishButton->setEnabled(false);
@ -1287,7 +1328,9 @@ void ConfigCcpmWidget::SwashLvlCancelButtonPressed()
enableSwashplateLevellingControl(false);
m_aircraft->SwashLvlStepInstruction->setText(
"<h2>Levelling Cancelled</h2><p>Previous settings have been restored.");
tr("<h2>Levelling Cancelled</h2><p>Previous settings have been restored."));
ccpmSwashplateUpdate();
}
@ -1299,6 +1342,7 @@ void ConfigCcpmWidget::SwashLvlFinishButtonPressed()
m_aircraft->SwashLvlStartButton->setEnabled(true);
m_aircraft->SwashLvlNextButton->setEnabled(false);
m_aircraft->SwashLvlPrevButton->setEnabled(false);
m_aircraft->SwashLvlCancelButton->setEnabled(false);
m_aircraft->SwashLvlFinishButton->setEnabled(false);
@ -1327,23 +1371,25 @@ void ConfigCcpmWidget::SwashLvlFinishButtonPressed()
enableSwashplateLevellingControl(false);
m_aircraft->SwashLvlStepInstruction->setText(
"<h2>Levelling Completed</h2><p>New settings have been saved to the SD card");
tr("<h2>Levelling Completed</h2><p>New settings have been saved to the SD card"));
ShowDisclaimer(0);
// ShowDisclaimer(2);
ccpmSwashplateUpdate();
}
int ConfigCcpmWidget::ShowDisclaimer(int messageID)
{
QMessageBox msgBox;
msgBox.setText("<font color=red><h1>Warning!!!</h2></font>");
msgBox.setText(tr("<font color=red><h1>Warning!!!</h2></font>"));
int ret;
switch (messageID) {
case 0:
// Basic disclaimer
msgBox.setInformativeText(
"<h2>This code has many configurations.</h2><p>Please double check all settings before attempting flight!");
tr("<h2>This code has many configurations.</h2><p>Please double check all settings before attempting flight!"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.setIcon(QMessageBox::Information);
@ -1354,7 +1400,7 @@ int ConfigCcpmWidget::ShowDisclaimer(int messageID)
case 1:
// Not Tested disclaimer
msgBox.setInformativeText(
"<h2>The CCPM mixer code needs more testing!</h2><p><font color=red>Use it at your own risk!</font><p>Do you wish to continue?");
tr("<h2>The CCPM mixer code needs more testing!</h2><p><font color=red>Use it at your own risk!</font><p>Do you wish to continue?"));
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
msgBox.setDefaultButton(QMessageBox::Cancel);
msgBox.setIcon(QMessageBox::Warning);
@ -1370,7 +1416,7 @@ int ConfigCcpmWidget::ShowDisclaimer(int messageID)
case 2:
// DO NOT use
msgBox.setInformativeText(
"<h2>The CCPM swashplate levelling code is NOT complete!</h2><p><font color=red>DO NOT use it for flight!</font>");
tr("<h2>The CCPM swashplate levelling code is NOT complete!</h2><p><font color=red>DO NOT use it for flight!</font>"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.setIcon(QMessageBox::Critical);

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -120,7 +120,9 @@ private slots:
void UpdateType();
void SwashLvlStartButtonPressed();
void SwashLvlPrevButtonPressed();
void SwashLvlNextButtonPressed();
void SwashLvlPrevNextButtonPressed();
void SwashLvlCancelButtonPressed();
void SwashLvlFinishButtonPressed();

565
ground/openpilotgcs/src/plugins/config/images/ccpm_setup.svg
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