LP-240 Add aux/onboard Mag alarms, max deviation level settings. Renamed Tab to "Mag settings"

ground/gcs/src/plugins/config/configrevowidget.cpp

@@ -196,12 +196,16 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
     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(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);
@@ -400,6 +404,8 @@ 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]));
     m_ui->beBox->setText(beStr);
+
+    getMagBeVector();
 }
 
 void ConfigRevoWidget::updateObjectsFromWidgets()
@@ -507,28 +513,45 @@ void ConfigRevoWidget::onBoardAuxMagError()
     MagSensor::DataFields magData = magSensor->getData();
     AuxMagSensor::DataFields auxMagData = auxMagSensor->getData();
 
+    onboardMag[0] = magData.x;
+    onboardMag[1] = magData.y;
+    onboardMag[2] = magData.z;
+
+    auxMag[0]     = auxMagData.x;
+    auxMag[1]     = auxMagData.y;
+    auxMag[2]     = auxMagData.z;
+
+    float normalizedMag[3];
+    float normalizedAuxMag[3];
+
     // Smooth Mag readings
     float alpha     = 0.8f;
     float inv_alpha = (1.0f - alpha);
-    onboardMag[0] = (onboardMag[0] * alpha) + (magData.x * inv_alpha);
-    onboardMag[1] = (onboardMag[1] * alpha) + (magData.y * inv_alpha);
-    onboardMag[2] = (onboardMag[2] * alpha) + (magData.z * inv_alpha);
 
-    auxMag[0]     = (auxMag[0] * alpha) + (auxMagData.x * inv_alpha);
+    onboardMagFiltered[0] = (onboardMagFiltered[0] * alpha) + (onboardMag[0] * inv_alpha);
-    auxMag[1]     = (auxMag[1] * alpha) + (auxMagData.y * inv_alpha);
+    onboardMagFiltered[1] = (onboardMagFiltered[1] * alpha) + (onboardMag[1] * inv_alpha);
-    auxMag[2]     = (auxMag[2] * alpha) + (auxMagData.z * inv_alpha);
+    onboardMagFiltered[2] = (onboardMagFiltered[2] * alpha) + (onboardMag[2] * inv_alpha);
+
+    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 vectors
-    float magLenght    = sqrt((onboardMag[0] * onboardMag[0]) + (onboardMag[1] * onboardMag[1]) + (onboardMag[2] * onboardMag[2]));
+    float magLenght    = sqrt((onboardMagFiltered[0] * onboardMagFiltered[0]) +
-    float auxMagLenght = sqrt((auxMag[0] * auxMag[0]) + (auxMag[1] * auxMag[1]) + (auxMag[2] * auxMag[2]));
+                              (onboardMagFiltered[1] * onboardMagFiltered[1]) +
+                              (onboardMagFiltered[2] * onboardMagFiltered[2]));
+    float auxMagLenght = sqrt((auxMagFiltered[0] * auxMagFiltered[0]) +
+                              (auxMagFiltered[1] * auxMagFiltered[1]) +
+                              (auxMagFiltered[2] * auxMagFiltered[2]));
 
-    normalizedMag[0]    = onboardMag[0] / magLenght;
-    normalizedMag[1]    = onboardMag[1] / magLenght;
-    normalizedMag[2]    = onboardMag[2] / magLenght;
 
-    normalizedAuxMag[0] = auxMag[0] / auxMagLenght;
+    normalizedMag[0]    = onboardMagFiltered[0] / magLenght;
-    normalizedAuxMag[1] = auxMag[1] / auxMagLenght;
+    normalizedMag[1]    = onboardMagFiltered[1] / magLenght;
-    normalizedAuxMag[2] = auxMag[2] / auxMagLenght;
+    normalizedMag[2]    = onboardMagFiltered[2] / magLenght;
+
+    normalizedAuxMag[0] = auxMagFiltered[0] / auxMagLenght;
+    normalizedAuxMag[1] = auxMagFiltered[1] / auxMagLenght;
+    normalizedAuxMag[2] = auxMagFiltered[2] / auxMagLenght;
 
     // Calc diff and scale
     float xDiff = (normalizedMag[0] - normalizedAuxMag[0]) * 25.0f;
@@ -539,6 +562,92 @@ void ConfigRevoWidget::onBoardAuxMagError()
     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), getMagError(auxMag));
+}
+
+void ConfigRevoWidget::updateMagAlarm(float errorMag, float errorAuxMag)
+{
+    #define ALARM_THRESHOLD 20
+
+    RevoSettings *revoSettings = RevoSettings::GetInstance(getObjectManager());
+    Q_ASSERT(revoSettings);
+    RevoSettings::DataFields revoSettingsData = revoSettings->getData();
+
+    QString bgColorMag    = "green";
+    QString bgColorAuxMag = "green";
+
+    // Onboard Mag
+    if (errorMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING]) {
+        magWarningCount = 0;
+        magErrorCount   = 0;
+    }
+
+    if (errorMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
+        magErrorCount = 0;
+        if (magWarningCount > ALARM_THRESHOLD) {
+            bgColorMag = "orange";
+        } else {
+            magWarningCount++;
+        }
+    }
+
+    if (magErrorCount > ALARM_THRESHOLD) {
+        bgColorMag = "red";
+    } else {
+        magErrorCount++;
+    }
+
+    // External Mag
+    if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_WARNING]) {
+        auxMagWarningCount = 0;
+        auxMagErrorCount   = 0;
+    }
+
+    if (errorAuxMag < revoSettingsData.MagnetometerMaxDeviation[RevoSettings::MAGNETOMETERMAXDEVIATION_ERROR]) {
+        auxMagErrorCount = 0;
+        if (auxMagWarningCount > ALARM_THRESHOLD) {
+            bgColorAuxMag = "orange";
+        } else {
+            auxMagWarningCount++;
+        }
+    }
+
+    if (auxMagErrorCount > ALARM_THRESHOLD) {
+        bgColorAuxMag = "red";
+    } else {
+        auxMagErrorCount++;
+    }
+
+    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::getMagBeVector()
+{
+    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()

ground/gcs/src/plugins/config/configrevowidget.h

@@ -74,9 +74,14 @@ public:
 
     float onboardMag[3];
     float auxMag[3];
+    float onboardMagFiltered[3];
+    float auxMagFiltered[3];
+    float magBe[3];
 
-    float normalizedMag[3];
+    int magWarningCount;
-    float normalizedAuxMag[3];
+    int magErrorCount;
+    int auxMagWarningCount;
+    int auxMagErrorCount;
 
 private:
     OpenPilot::SixPointCalibrationModel *m_accelCalibrationModel;
@@ -114,6 +119,10 @@ private slots:
 
     void onBoardAuxMagError();
     void updateMagStatus();
+    void getMagBeVector();
+    void updateMagAlarm(float errorMag, float errorAuxMag);
+
+    float getMagError(float mag[3]);
 
     void updateVisualHelp();
     void openHelp();

ground/gcs/src/plugins/config/revosensors.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>890</width>
+    <width>935</width>
-    <height>725</height>
+    <height>726</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -955,13 +955,239 @@ A setting of 0.00 disables the filter.</string>
        <bool>true</bool>
       </property>
       <attribute name="title">
-       <string>External Mag Settings</string>
+       <string>Mag Settings</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_5">
        <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_6">
+        <layout class="QGridLayout" name="gridLayout_6">
-         <item>
+         <property name="leftMargin">
-          <layout class="QVBoxLayout" name="verticalLayout_7">
+          <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="MinimumExpanding" 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>External Mag 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 magnetometer and external 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 external 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>
@@ -976,7 +1202,10 @@ A setting of 0.00 disables the filter.</string>
              <property name="title">
               <string>Magnetometer Settings</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0">
+             <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">
@@ -1003,8 +1232,14 @@ A setting of 0.00 disables the filter.</string>
                 </property>
                </widget>
               </item>
-              <item row="1" column="1">
+              <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>
@@ -1016,10 +1251,10 @@ A setting of 0.00 disables the filter.</string>
                 </property>
                </widget>
               </item>
-              <item row="0" column="1">
+              <item row="0" column="1" colspan="2">
                <widget class="QComboBox" name="auxMagUsage">
                 <property name="sizePolicy">
-                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                   <horstretch>0</horstretch>
                   <verstretch>0</verstretch>
                  </sizepolicy>
@@ -1035,13 +1270,55 @@ A setting of 0.00 disables the filter.</string>
                 </property>
                </widget>
               </item>
-              <item row="0" column="2">
+              <item row="2" column="1">
-               <spacer name="horizontalSpacer_5">
+               <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::MinimumExpanding</enum>
+                 <enum>QSizePolicy::Expanding</enum>
                 </property>
                 <property name="sizeHint" stdset="0">
                  <size>
@@ -1057,7 +1334,7 @@ A setting of 0.00 disables the filter.</string>
            <item>
             <widget class="QGroupBox" name="groupBox_9">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+              <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
@@ -1065,7 +1342,68 @@ A setting of 0.00 disables the filter.</string>
              <property name="title">
               <string>Magnetometer Status</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0">
+             <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>80</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>80</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>AuxMag</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
               <item row="1" column="1">
                <widget class="QLabel" name="magStatusSource">
                 <property name="sizePolicy">
@@ -1092,13 +1430,48 @@ A setting of 0.00 disables the filter.</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>
              </layout>
             </widget>
            </item>
            <item>
             <widget class="QGroupBox" name="groupBox_7">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+              <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
@@ -1107,6 +1480,9 @@ A setting of 0.00 disables the filter.</string>
               <string>Rotate 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">
@@ -1253,208 +1629,6 @@ font:bold;</string>
            </item>
           </layout>
          </item>
-         <item>
-          <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>External Mag 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="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="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="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="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="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>
-            <item row="0" column="0" colspan="2">
-             <widget class="QTextEdit" name="textEdit">
-              <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 magnetometer and external 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 external 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 the onboard magnetometer is also calibrated (Mag use=Both).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
         </layout>
        </item>
        <item>
@@ -1462,6 +1636,9 @@ p, li { white-space: pre-wrap; }
          <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>