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Merged in f5soh/librepilot/LP-240_AuxMag_Settings_GUI (pull request #183)

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LP-240 Add GUI tab for external Magnetometer
This commit is contained in:
Fredrik Arvidsson 2016-03-03 15:25:49 +01:00
commit 618c4bfe5c
3 changed files with 970 additions and 3 deletions
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247
ground/gcs/src/plugins/config/configrevowidget.cpp
View File

@ -60,8 +60,10 @@
// #define DEBUG // #define DEBUG
#define MAG_ALARM_THRESHOLD 5
// Uncomment this to enable 6 point calibration on the accels // Uncomment this to enable 6 point calibration on the accels
#define NOISE_SAMPLES 50 #define NOISE_SAMPLES 50
class Thread : public QThread { class Thread : public QThread {
public: public:
@ -193,6 +195,27 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW); addWidgetBinding("AttitudeSettings", "BoardRotation", m_ui->yawRotation, AttitudeSettings::BOARDROTATION_YAW);
addWidgetBinding("AttitudeSettings", "AccelTau", m_ui->accelTau); addWidgetBinding("AttitudeSettings", "AccelTau", m_ui->accelTau);
addWidgetBinding("AuxMagSettings", "Usage", m_ui->auxMagUsage, 0, 1, true);
addWidgetBinding("AuxMagSettings", "Type", m_ui->auxMagType, 0, 1, true);
addWidgetBinding("RevoSettings", "MagnetometerMaxDeviation", m_ui->maxDeviationWarning, RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING);
addWidgetBinding("RevoSettings", "MagnetometerMaxDeviation", m_ui->maxDeviationError, RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR);
addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagRollRotation, AuxMagSettings::BOARDROTATION_ROLL);
addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagPitchRotation, AuxMagSettings::BOARDROTATION_PITCH);
addWidgetBinding("AuxMagSettings", "BoardRotation", m_ui->auxMagYawRotation, AuxMagSettings::BOARDROTATION_YAW);
connect(m_ui->tabWidget, SIGNAL(currentChanged(int)), this, SLOT(onBoardAuxMagError()));
connect(MagSensor::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(onBoardAuxMagError()));
connect(MagState::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateMagStatus()));
connect(HomeLocation::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateMagBeVector()));
addWidget(m_ui->internalAuxErrorX);
addWidget(m_ui->internalAuxErrorY);
addWidget(m_ui->internalAuxErrorZ);
displayMagError = false;
// Connect the help button // Connect the help button
connect(m_ui->attitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); connect(m_ui->attitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
@ -384,6 +407,9 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
QString beStr = QString("%1:%2:%3").arg(QString::number(homeLocationData.Be[0]), QString::number(homeLocationData.Be[1]), QString::number(homeLocationData.Be[2])); QString beStr = QString("%1:%2:%3").arg(QString::number(homeLocationData.Be[0]), QString::number(homeLocationData.Be[1]), QString::number(homeLocationData.Be[2]));
m_ui->beBox->setText(beStr); m_ui->beBox->setText(beStr);
updateMagBeVector();
onBoardAuxMagError();
} }
void ConfigRevoWidget::updateObjectsFromWidgets() void ConfigRevoWidget::updateObjectsFromWidgets()
@ -451,6 +477,225 @@ void ConfigRevoWidget::enableAllCalibrations()
m_ui->thermalBiasStart->setEnabled(true); m_ui->thermalBiasStart->setEnabled(true);
} }
void ConfigRevoWidget::onBoardAuxMagError()
{
MagSensor *magSensor = MagSensor::GetInstance(getObjectManager());
Q_ASSERT(magSensor);
AuxMagSensor *auxMagSensor = AuxMagSensor::GetInstance(getObjectManager());
Q_ASSERT(auxMagSensor);
if (m_ui->tabWidget->currentIndex() != 2) {
// Apply default metadata
if (displayMagError) {
magSensor->setMetadata(magSensor->getDefaultMetadata());
auxMagSensor->setMetadata(auxMagSensor->getDefaultMetadata());
displayMagError = false;
}
return;
}
if (!displayMagError) {
// Apply new rates
UAVObject::Metadata mdata = magSensor->getMetadata();
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 300;
magSensor->setMetadata(mdata);
mdata = auxMagSensor->getMetadata();
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 300;
auxMagSensor->setMetadata(mdata);
displayMagError = true;
return;
}
float onboardMag[3];
float auxMag[3];
onboardMag[0] = magSensor->x();
onboardMag[1] = magSensor->y();
onboardMag[2] = magSensor->z();
float normalizedMag[3];
float normalizedAuxMag[3];
float xDiff = 0.0f;
float yDiff = 0.0f;
float zDiff = 0.0f;
// Smooth Mag readings
float alpha = 0.7f;
float inv_alpha = (1.0f - alpha);
// Onboard mag
onboardMagFiltered[0] = (onboardMagFiltered[0] * alpha) + (onboardMag[0] * inv_alpha);
onboardMagFiltered[1] = (onboardMagFiltered[1] * alpha) + (onboardMag[1] * inv_alpha);
onboardMagFiltered[2] = (onboardMagFiltered[2] * alpha) + (onboardMag[2] * inv_alpha);
// Normalize vector
float magLength = sqrt((onboardMagFiltered[0] * onboardMagFiltered[0]) +
(onboardMagFiltered[1] * onboardMagFiltered[1]) +
(onboardMagFiltered[2] * onboardMagFiltered[2]));
normalizedMag[0] = onboardMagFiltered[0] / magLength;
normalizedMag[1] = onboardMagFiltered[1] / magLength;
normalizedMag[2] = onboardMagFiltered[2] / magLength;
if (auxMagSensor->status() > (int)AuxMagSensor::STATUS_NONE) {
auxMag[0] = auxMagSensor->x();
auxMag[1] = auxMagSensor->y();
auxMag[2] = auxMagSensor->z();
auxMagFiltered[0] = (auxMagFiltered[0] * alpha) + (auxMag[0] * inv_alpha);
auxMagFiltered[1] = (auxMagFiltered[1] * alpha) + (auxMag[1] * inv_alpha);
auxMagFiltered[2] = (auxMagFiltered[2] * alpha) + (auxMag[2] * inv_alpha);
// Normalize vector
float auxMagLength = sqrt((auxMagFiltered[0] * auxMagFiltered[0]) +
(auxMagFiltered[1] * auxMagFiltered[1]) +
(auxMagFiltered[2] * auxMagFiltered[2]));
normalizedAuxMag[0] = auxMagFiltered[0] / auxMagLength;
normalizedAuxMag[1] = auxMagFiltered[1] / auxMagLength;
normalizedAuxMag[2] = auxMagFiltered[2] / auxMagLength;
// Calc diff and scale
xDiff = (normalizedMag[0] - normalizedAuxMag[0]) * 25.0f;
yDiff = (normalizedMag[1] - normalizedAuxMag[1]) * 25.0f;
zDiff = (normalizedMag[2] - normalizedAuxMag[2]) * 25.0f;
} else {
auxMag[0] = auxMag[1] = auxMag[2] = 0.0f;
auxMagFiltered[0] = auxMagFiltered[1] = auxMagFiltered[2] = 0.0f;
}
// Display Mag/AuxMag diff for every axis
m_ui->internalAuxErrorX->setValue(xDiff > 50.0f ? 50.0f : xDiff < -50.0f ? -50.0f : xDiff);
m_ui->internalAuxErrorY->setValue(yDiff > 50.0f ? 50.0f : yDiff < -50.0f ? -50.0f : yDiff);
m_ui->internalAuxErrorZ->setValue(zDiff > 50.0f ? 50.0f : zDiff < -50.0f ? -50.0f : zDiff);
updateMagAlarm(getMagError(onboardMag), (auxMagSensor->status() == (int)AuxMagSensor::STATUS_NONE) ? -1.0f : getMagError(auxMag));
}
void ConfigRevoWidget::updateMagAlarm(float errorMag, float errorAuxMag)
{
RevoSettings *revoSettings = RevoSettings::GetInstance(getObjectManager());
Q_ASSERT(revoSettings);
RevoSettings::DataFields revoSettingsData = revoSettings->getData();
QStringList AlarmColor;
AlarmColor << "grey" << "green" << "orange" << "red";
enum magAlarmState { MAG_NOT_FOUND = 0, MAG_OK = 1, MAG_WARNING = 2, MAG_ERROR = 3 };
QString bgColorMag = AlarmColor[MAG_OK];
QString bgColorAuxMag = AlarmColor[MAG_OK];
// Onboard Mag
if (errorMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING]) {
magWarningCount = 0;
magErrorCount = 0;
}
if (errorMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
magErrorCount = 0;
if (magWarningCount > MAG_ALARM_THRESHOLD) {
bgColorMag = AlarmColor[MAG_WARNING];
} else {
magWarningCount++;
}
}
if (magErrorCount > MAG_ALARM_THRESHOLD) {
bgColorMag = AlarmColor[MAG_ERROR];
} else {
magErrorCount++;
}
// Auxiliary Mag
if (errorAuxMag > -1.0f) {
if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING]) {
auxMagWarningCount = 0;
auxMagErrorCount = 0;
}
if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
auxMagErrorCount = 0;
if (auxMagWarningCount > MAG_ALARM_THRESHOLD) {
bgColorAuxMag = AlarmColor[MAG_WARNING];
} else {
auxMagWarningCount++;
}
}
if (auxMagErrorCount > MAG_ALARM_THRESHOLD) {
bgColorAuxMag = AlarmColor[MAG_ERROR];
} else {
auxMagErrorCount++;
}
errorAuxMag = ((errorAuxMag * 100.0f) <= 100.0f) ? errorAuxMag * 100.0f : 100.0f;
m_ui->auxMagStatus->setText("AuxMag\n" + QString::number(errorAuxMag, 'f', 1) + "%");
} else {
// Disable aux mag alarm
bgColorAuxMag = AlarmColor[MAG_NOT_FOUND];
m_ui->auxMagStatus->setText("AuxMag\nnot found");
}
errorMag = ((errorMag * 100.0f) <= 100.0f) ? errorMag * 100.0f : 100.0f;
m_ui->onBoardMagStatus->setText("Onboard\n" + QString::number(errorMag, 'f', 1) + "%");
m_ui->onBoardMagStatus->setStyleSheet(
"QLabel { background-color: " + bgColorMag + ";"
"color: rgb(255, 255, 255); border-radius: 5; margin:1px; font:bold; }");
m_ui->auxMagStatus->setStyleSheet(
"QLabel { background-color: " + bgColorAuxMag + ";"
"color: rgb(255, 255, 255); border-radius: 5; margin:1px; font:bold; }");
}
float ConfigRevoWidget::getMagError(float mag[3])
{
float magnitude = sqrt((mag[0] * mag[0]) + (mag[1] * mag[1]) + (mag[2] * mag[2]));
float magnitudeBe = sqrt((magBe[0] * magBe[0]) + (magBe[1] * magBe[1]) + (magBe[2] * magBe[2]));
float invMagnitudeBe = 1.0f / magnitudeBe;
// Absolute value of relative error against Be
float error = fabsf(magnitude - magnitudeBe) * invMagnitudeBe;
return error;
}
void ConfigRevoWidget::updateMagBeVector()
{
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(homeLocation);
HomeLocation::DataFields homeLocationData = homeLocation->getData();
magBe[0] = homeLocationData.Be[0];
magBe[1] = homeLocationData.Be[1];
magBe[2] = homeLocationData.Be[2];
}
void ConfigRevoWidget::updateMagStatus()
{
MagState *magState = MagState::GetInstance(getObjectManager());
Q_ASSERT(magState);
MagState::DataFields magStateData = magState->getData();
if (magStateData.Source == MagState::SOURCE_INVALID) {
m_ui->magStatusSource->setText(tr("Source invalid"));
m_ui->magStatusSource->setToolTip(tr("Currently no attitude estimation algorithm uses magnetometer or there is something wrong"));
} else if (magStateData.Source == MagState::SOURCE_ONBOARD) {
m_ui->magStatusSource->setText(tr("Onboard magnetometer"));
m_ui->magStatusSource->setToolTip("");
} else if (magStateData.Source == MagState::SOURCE_AUX) {
m_ui->magStatusSource->setText(tr("Auxiliary magnetometer"));
m_ui->magStatusSource->setToolTip("");
} else {
m_ui->magStatusSource->setText(tr("Unknown"));
m_ui->magStatusSource->setToolTip("");
}
}
void ConfigRevoWidget::openHelp() void ConfigRevoWidget::openHelp()
{ {
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Revo+Attitude+Configuration"), QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Revo+Attitude+Configuration"),

23
ground/gcs/src/plugins/config/configrevowidget.h
View File

@ -37,6 +37,11 @@
#include "calibration/levelcalibrationmodel.h" #include "calibration/levelcalibrationmodel.h"
#include "calibration/gyrobiascalibrationmodel.h" #include "calibration/gyrobiascalibrationmodel.h"
#include <auxmagsettings.h>
#include <magsensor.h>
#include <auxmagsensor.h>
#include <magstate.h>
#include <QWidget> #include <QWidget>
#include <QtSvg/QSvgRenderer> #include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem> #include <QtSvg/QGraphicsSvgItem>
@ -67,6 +72,17 @@ private:
qint16 auxMagStoredBoardRotation[3]; qint16 auxMagStoredBoardRotation[3];
bool isBoardRotationStored; bool isBoardRotationStored;
bool displayMagError;
float onboardMagFiltered[3];
float auxMagFiltered[3];
float magBe[3];
int magWarningCount;
int magErrorCount;
int auxMagWarningCount;
int auxMagErrorCount;
private slots: private slots:
void storeAndClearBoardRotation(); void storeAndClearBoardRotation();
void recallBoardRotation(); void recallBoardRotation();
@ -87,6 +103,13 @@ private slots:
void disableAllCalibrations(); void disableAllCalibrations();
void enableAllCalibrations(); void enableAllCalibrations();
void onBoardAuxMagError();
void updateMagStatus();
void updateMagBeVector();
void updateMagAlarm(float errorMag, float errorAuxMag);
float getMagError(float mag[3]);
void updateVisualHelp(); void updateVisualHelp();
void openHelp(); void openHelp();

703
ground/gcs/src/plugins/config/revosensors.ui
View File

@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1014</width> <width>935</width>
<height>725</height> <height>726</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -950,6 +950,705 @@ A setting of 0.00 disables the filter.</string>
</item> </item>
</layout> </layout>
</widget> </widget>
<widget class="QWidget" name="externalMagTab">
<property name="enabled">
<bool>true</bool>
</property>
<attribute name="title">
<string>Magnetometer</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<layout class="QGridLayout" name="gridLayout_6">
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>6</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<item row="0" column="1">
<widget class="QGroupBox" name="gridGroupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>500</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Auxiliary Magnetometer Orientation Help</string>
</property>
<layout class="QGridLayout" name="gridLayout_10">
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>6</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<item row="2" column="0">
<widget class="QLabel" name="label_23">
<property name="minimumSize">
<size>
<width>80</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>30</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Y axis</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_22">
<property name="minimumSize">
<size>
<width>80</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>30</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Z axis</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QProgressBar" name="internalAuxErrorZ">
<property name="toolTip">
<string>Difference on Z axis</string>
</property>
<property name="minimum">
<number>-50</number>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="format">
<string>%v</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QProgressBar" name="internalAuxErrorY">
<property name="toolTip">
<string>Difference on Y axis</string>
</property>
<property name="minimum">
<number>-50</number>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="format">
<string>%v</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<widget class="QTextEdit" name="textEdit">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The bargraphs show the difference between the onboard and auxiliary magnetometer measurements. &lt;/p&gt;
&lt;p align=&quot;justify&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When the auxiliary magnetometer rotation is set correctlly, all bargraphs should show all zero (bargraph centered) &lt;a name=&quot;result_box&quot;&gt;&lt;/a&gt;whatever the vehicle's orientation.&lt;/p&gt;
&lt;p align=&quot;justify&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This assumes both magnetometers are calibrated and without alarm.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QProgressBar" name="internalAuxErrorX">
<property name="toolTip">
<string>Difference on X axis</string>
</property>
<property name="minimum">
<number>-50</number>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
<property name="format">
<string>%v</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_24">
<property name="minimumSize">
<size>
<width>80</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>30</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>X axis</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0">
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_8">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Magnetometer Settings</string>
</property>
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0,0">
<property name="sizeConstraint">
<enum>QLayout::SetMinimumSize</enum>
</property>
<item row="1" column="0">
<widget class="QLabel" name="label_31">
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Mag type:</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_32">
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Mag usage:</string>
</property>
</widget>
</item>
<item row="1" column="1" colspan="2">
<widget class="QComboBox" name="auxMagType">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Select the magnetometer type.</string>
</property>
</widget>
</item>
<item row="0" column="1" colspan="2">
<widget class="QComboBox" name="auxMagUsage">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Select how to use available magnetometers.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="maxDeviationWarning">
<property name="toolTip">
<string>Warning level in percent (default 5%)</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>0.150000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="maxDeviationError">
<property name="toolTip">
<string>Error level in percent (default 15%)</string>
</property>
<property name="minimum">
<double>0.150000000000000</double>
</property>
<property name="maximum">
<double>0.300000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Warning / Error levels:</string>
</property>
</widget>
</item>
<item row="2" column="3">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_9">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Magnetometer Status</string>
</property>
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0,0,0">
<property name="sizeConstraint">
<enum>QLayout::SetMinimumSize</enum>
</property>
<item row="4" column="1">
<widget class="QLabel" name="onBoardMagStatus">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>35</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: green;
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Onboard</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="auxMagStatus">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>40</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: green;
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>AuxMag</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label">
<property name="minimumSize">
<size>
<width>110</width>
<height>20</height>
</size>
</property>
<property name="text">
<string>Mag source:</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Mag alarms:</string>
</property>
</widget>
</item>
<item row="4" column="3">
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1" colspan="2">
<widget class="QLabel" name="magStatusSource">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>external</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_7">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Auxiliary Magnetometer Orientation</string>
</property>
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,0,0">
<property name="sizeConstraint">
<enum>QLayout::SetMinimumSize</enum>
</property>
<item row="2" column="0">
<widget class="QLabel" name="label_29">
<property name="minimumSize">
<size>
<width>70</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="auxMagPitchRotation">
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>-180.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QDoubleSpinBox" name="auxMagYawRotation">
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>-180.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_28">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="auxMagRollRotation">
<property name="toolTip">
<string/>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>-180.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_30">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>0</width>
<height>30</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="helpTab"> <widget class="QWidget" name="helpTab">
<attribute name="title"> <attribute name="title">
<string>Help</string> <string>Help</string>