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OP-975 Add separate buttons for mag and accel calibration (UI changes)
This commit is contained in:
Alessio Morale
parent
d13d3da204
commit
feee6f78e3
@ -114,7 +114,8 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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// Connect the signals
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connect(m_ui->accelBiasStart, SIGNAL(clicked()), this, SLOT(doStartAccelGyroBiasCalibration()));
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connect(m_ui->sixPointsStart, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibration()));
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connect(m_ui->sixPointsStartAccel, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibrationAccel()));
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connect(m_ui->sixPointsStartMag, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibrationMag()));
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connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
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connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation()));
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@ -403,13 +404,20 @@ int SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[
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/********** Functions for six point calibration **************/
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void ConfigRevoWidget::doStartSixPointCalibrationMag(){
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doStartSixPointCalibration(false, true);
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}
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void ConfigRevoWidget::doStartSixPointCalibrationAccel(){
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doStartSixPointCalibration(true, false);
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}
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/**
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* Called by the "Start" button. Sets up the meta data and enables the
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* buttons to perform six point calibration of the magnetometer (optionally
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* accel) to compute the scale and bias of this sensor based on the current
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* home location magnetic strength.
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*/
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void ConfigRevoWidget::doStartSixPointCalibration()
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void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool calibratemag)
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{
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// Store and reset board rotation before calibration starts
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isBoardRotationStored = false;
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@ -505,7 +513,8 @@ void ConfigRevoWidget::doStartSixPointCalibration()
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m_ui->sixPointCalibInstructions->clear();
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m_ui->sixPointCalibInstructions->append("Place horizontally and click save position...");
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displayPlane("plane-horizontal");
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m_ui->sixPointsStart->setEnabled(false);
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m_ui->sixPointsStartAccel->setEnabled(false);
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m_ui->sixPointsStartMag->setEnabled(false);
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m_ui->sixPointsSave->setEnabled(true);
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position = 0;
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}
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@ -808,7 +817,8 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object)
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{
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ConfigTaskWidget::refreshWidgetsValues(object);
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m_ui->sixPointsStart->setEnabled(true);
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m_ui->sixPointsStartAccel->setEnabled(true);
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m_ui->sixPointsStartMag->setEnabled(true);
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m_ui->accelBiasStart->setEnabled(true);
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m_ui->calibInstructions->setText(QString("Press \"Start\" above to calibrate."));
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@ -101,12 +101,16 @@ private slots:
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virtual void refreshWidgetsValues(UAVObject *object = NULL);
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// Slots for calibrating the mags
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void doStartSixPointCalibration();
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void doStartSixPointCalibrationMag();
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void doStartSixPointCalibrationAccel();
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void doStartSixPointCalibration(bool calibrateaccel, bool calibratemag);
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void doGetSixPointCalibrationMeasurement(UAVObject *obj);
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void savePositionData();
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// Slots for calibrating the accel and gyro
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void doStartAccelGyroBiasCalibration();
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void doGetAccelGyroBiasData(UAVObject *);
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// Slot for clearing home location
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@ -62,28 +62,40 @@
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<property name="verticalSpacing">
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<number>6</number>
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</property>
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<item row="1" column="0">
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<item row="1" column="0" >
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<widget class="QGroupBox" name="groupBox_5">
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<property name="title">
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<string>#2: Accelerometer/Magnetometer calibration</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_sixPointCalib">
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<item>
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<widget class="QGraphicsView" name="sixPointsHelp">
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</widget>
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<widget class="QGraphicsView" name="sixPointsHelp"/>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_4">
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<item>
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<widget class="QPushButton" name="sixPointsStart">
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<widget class="QPushButton" name="sixPointsStartAccel">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="toolTip">
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<string>Launch a sensor range and bias calibration.</string>
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<string>Launch accelerometer range and bias calibration.</string>
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</property>
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<property name="text">
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<string>Start</string>
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<string>Calibrate Accel</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="sixPointsStartMag">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="toolTip">
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<string>Launch magnetometer range and bias calibration.</string>
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</property>
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<property name="text">
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<string>Calibrate Mag</string>
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</property>
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</widget>
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</item>
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@ -255,7 +267,7 @@
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</layout>
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</widget>
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</item>
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<item row="2" column="0" colspan="2">
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<item row="3" column="0" colspan="2">
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<widget class="QTextEdit" name="sixPointCalibInstructions">
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<property name="toolTip">
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<string>Six Point Calibration instructions</string>
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@ -272,7 +284,7 @@ p, li { white-space: pre-wrap; }
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<tr>
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<td style="border: none;">
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #1 and #2 and 3 are really necessary. Step #4 will help you achieve the best possible results.</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #2 and #3 are really necessary. Step #1 will help you achieve the best possible results.</span></p>
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Thermal Calibration:</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute the variation of all sensors bias at different temperatures while the board warm up.</span></p>
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@ -280,7 +292,8 @@ p, li { white-space: pre-wrap; }
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p>
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<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#2: Multi-Point calibration:</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors on the INS. Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p>
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
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<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#3: Board level calibration:</span></p>
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@ -288,25 +301,14 @@ p, li { white-space: pre-wrap; }
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<item row="1" column="1" >
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<widget class="QGroupBox" name="groupBox">
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<property name="title">
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<string>#3: Board level calibration</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_5">
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<item>
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<widget class="QGraphicsView" name="levelingHelp">
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</widget>
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</item>
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<item>
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<widget class="QProgressBar" name="accelBiasProgress">
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<property name="value">
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<number>0</number>
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</property>
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<property name="textVisible">
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<bool>false</bool>
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</property>
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</widget>
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<widget class="QGraphicsView" name="levelingHelp"/>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_3">
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@ -330,6 +332,16 @@ p, li { white-space: pre-wrap; }
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</property>
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</widget>
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</item>
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<item>
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<widget class="QProgressBar" name="accelBiasProgress">
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<property name="value">
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<number>0</number>
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</property>
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<property name="textVisible">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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