mirror of
https://bitbucket.org/librepilot/librepilot.git
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696 lines
26 KiB
XML
696 lines
26 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>AutotuneWidget</class>
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<widget class="QWidget" name="AutotuneWidget">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>739</width>
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<height>688</height>
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</rect>
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||
</property>
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||
<property name="sizePolicy">
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||
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
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||
<horstretch>0</horstretch>
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||
<verstretch>0</verstretch>
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||
</sizepolicy>
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</property>
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||
<property name="windowTitle">
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<string>Form</string>
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||
</property>
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||
<layout class="QVBoxLayout" name="verticalLayout_2">
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||
<property name="spacing">
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<number>-1</number>
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</property>
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<item>
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<widget class="QTabWidget" name="Autotune_tabs">
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<property name="currentIndex">
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<number>0</number>
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</property>
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<widget class="QWidget" name="Preautotune_tab">
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<attribute name="title">
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<string>Pre-Autotune</string>
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</attribute>
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<layout class="QGridLayout" name="gridLayout_5">
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<property name="leftMargin">
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<number>12</number>
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</property>
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<property name="rightMargin">
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<number>12</number>
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</property>
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<property name="bottomMargin">
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<number>12</number>
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</property>
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<item row="1" column="0">
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<spacer name="horizontalSpacer_4">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="1" column="2">
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<spacer name="horizontalSpacer_5">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="0" column="0" colspan="3">
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<widget class="QTextEdit" name="textEdit">
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<property name="frameShape">
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<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Sunken</enum>
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</property>
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<property name="html">
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<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
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<html><head><meta name="qrichtext" content="1" /><style type="text/css">
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p, li { white-space: pre-wrap; }
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</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
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<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
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<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><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;"><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;">This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be <span style=" font-weight:600;">very very wary</span> for it creating bad tuning values. Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:<br /></p>
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<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">On the <span style=" font-style:italic;">Input configuration</span> tab, <span style=" font-style:italic;">Flight Mode Switch Settings</span>, set one of your flight modes to &quot;Autotune&quot;.<br /></li>
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<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, change flight mode to autotune, keep it in the air while it's shaking.<br /></li>
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<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm. (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
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<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).<br /></li>
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<li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly the new settings.</li>
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<li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the <span style=" font-style:italic;">Enable Autotune Module</span> checkbox below this text, click <span style=" font-style:italic;">save</span> and go to the next tab.</li></ul></body></html></string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QCheckBox" name="enableAutoTune">
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<property name="text">
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<string>Enable Autotune Module</string>
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</property>
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<property name="checkable">
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<bool>true</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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</widget>
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<widget class="QWidget" name="autotune_tab">
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<attribute name="title">
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<string>Autotune Setup</string>
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</attribute>
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<layout class="QVBoxLayout" name="verticalLayout_3">
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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<widget class="QScrollArea" name="scrollArea">
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<property name="palette">
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<palette>
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<active>
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<colorrole role="Base">
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<brush brushstyle="SolidPattern">
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<color alpha="255">
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<red>255</red>
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<green>255</green>
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<blue>255</blue>
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</color>
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</brush>
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</colorrole>
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<colorrole role="Window">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<green>232</green>
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<blue>232</blue>
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</color>
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</brush>
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</colorrole>
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</active>
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<inactive>
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<colorrole role="Base">
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<brush brushstyle="SolidPattern">
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<color alpha="255">
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<red>255</red>
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<green>255</green>
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<blue>255</blue>
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</color>
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</brush>
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</colorrole>
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<colorrole role="Window">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<green>232</green>
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<blue>232</blue>
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</color>
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</brush>
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</colorrole>
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</inactive>
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<disabled>
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<colorrole role="Base">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<green>232</green>
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<blue>232</blue>
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</color>
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</brush>
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</colorrole>
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<colorrole role="Window">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<green>232</green>
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<blue>232</blue>
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</color>
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</brush>
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</colorrole>
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</disabled>
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</palette>
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</property>
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<property name="frameShape">
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<enum>QFrame::NoFrame</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Plain</enum>
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</property>
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<property name="widgetResizable">
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<bool>true</bool>
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</property>
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<widget class="QWidget" name="scrollAreaWidgetContents">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>498</width>
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<height>503</height>
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</rect>
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</property>
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<property name="sizePolicy">
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<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="autoFillBackground">
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<bool>true</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<property name="spacing">
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<number>12</number>
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</property>
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<property name="margin">
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<number>12</number>
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</property>
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<item>
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<widget class="QGroupBox" name="groupBox">
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<property name="title">
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<string>Tuning Aggressiveness</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_2">
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<item row="0" column="0">
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<widget class="QLabel" name="label">
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<property name="text">
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<string>Rate Tuning:</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Attitude Tuning:</string>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QSlider" name="rateTuning">
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<property name="maximum">
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<number>100</number>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuningSettings</string>
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<string>fieldname:RateGain</string>
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<string>scale:0.01</string>
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<string>haslimits:no</string>
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</stringlist>
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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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<widget class="QSlider" name="attitudeTuning">
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<property name="maximum">
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<number>100</number>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuningSettings</string>
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<string>fieldname:AttitudeGain</string>
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<string>scale:0.01</string>
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<string>haslimits:no</string>
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</stringlist>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_3">
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<property name="title">
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<string>Measured Properties</string>
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</property>
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<layout class="QGridLayout" name="gridLayout">
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<item row="1" column="0">
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<widget class="QLabel" name="label_3">
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<property name="text">
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<string>Roll:</string>
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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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<widget class="QLabel" name="measuredRollPeriod">
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<property name="text">
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<string>0</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuning</string>
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<string>fieldname:Period</string>
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<string>element:Roll</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="measuredRollGain">
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<property name="text">
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<string>0</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuning</string>
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<string>fieldname:Gain</string>
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<string>element:Roll</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_6">
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<property name="text">
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<string>Period (ms)</string>
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_7">
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<property name="text">
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<string>Gain (deg/s) / output</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QLabel" name="label_8">
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<property name="text">
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<string>Pitch</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="measuredPitchPeriod">
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<property name="text">
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<string>0</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuning</string>
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<string>fieldname:Period</string>
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<string>element:Pitch</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="measuredPitchGain">
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<property name="text">
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<string>0</string>
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</property>
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||
<property name="alignment">
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||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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||
</property>
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||
<property name="objrelation" stdset="0">
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||
<stringlist>
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<string>objname:RelayTuning</string>
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<string>fieldname:Gain</string>
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<string>element:Pitch</string>
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</stringlist>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_2">
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<property name="title">
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<string>Computed Values</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_3">
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<item row="0" column="2">
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<widget class="QLabel" name="label_9">
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<property name="text">
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<string>RateKi</string>
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</property>
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</widget>
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</item>
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<item row="0" column="3">
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<widget class="QLabel" name="label_10">
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||
<property name="text">
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<string>AttitudeKp</string>
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</property>
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</widget>
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</item>
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||
<item row="2" column="2">
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||
<widget class="QLabel" name="pitchRateKi">
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||
<property name="text">
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||
<string>0</string>
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||
</property>
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||
</widget>
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||
</item>
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||
<item row="2" column="0">
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||
<widget class="QLabel" name="label_12">
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<property name="text">
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||
<string>Pitch</string>
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||
</property>
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||
</widget>
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||
</item>
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||
<item row="0" column="1">
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||
<widget class="QLabel" name="label_5">
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||
<property name="text">
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||
<string>RateKp</string>
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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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||
<widget class="QLabel" name="rollRateKp">
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||
<property name="text">
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||
<string>0</string>
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||
</property>
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||
</widget>
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||
</item>
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||
<item row="0" column="4">
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||
<widget class="QLabel" name="label_11">
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||
<property name="text">
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||
<string>AttitudeKi</string>
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||
</property>
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||
</widget>
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||
</item>
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||
<item row="1" column="0">
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||
<widget class="QLabel" name="label_4">
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||
<property name="text">
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||
<string>Roll</string>
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||
</property>
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||
</widget>
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||
</item>
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||
<item row="1" column="3">
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||
<widget class="QLabel" name="rollAttitudeKp">
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||
<property name="text">
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||
<string>0</string>
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||
</property>
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||
</widget>
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||
</item>
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||
<item row="2" column="4">
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||
<widget class="QLabel" name="pitchAttitudeKi">
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||
<property name="text">
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||
<string>0</string>
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||
</property>
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||
</widget>
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||
</item>
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||
<item row="2" column="3">
|
||
<widget class="QLabel" name="pitchAttitudeKp">
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||
<property name="text">
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||
<string>0</string>
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||
</property>
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||
</widget>
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||
</item>
|
||
<item row="2" column="1">
|
||
<widget class="QLabel" name="pitchRateKp">
|
||
<property name="text">
|
||
<string>0</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="2">
|
||
<widget class="QLabel" name="rollRateKi">
|
||
<property name="text">
|
||
<string>0</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="4">
|
||
<widget class="QLabel" name="rollAttitudeKi">
|
||
<property name="text">
|
||
<string>0</string>
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||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QGroupBox" name="groupBox_4">
|
||
<property name="title">
|
||
<string/>
|
||
</property>
|
||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||
<item>
|
||
<layout class="QGridLayout" name="gridLayout_4">
|
||
<item row="0" column="1" colspan="2">
|
||
<widget class="QPushButton" name="useComputedValues">
|
||
<property name="styleSheet">
|
||
<string notr="true"/>
|
||
</property>
|
||
<property name="text">
|
||
<string>Apply Computed Values</string>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="1">
|
||
<widget class="QLabel" name="label_21">
|
||
<property name="text">
|
||
<string>Step Size</string>
|
||
</property>
|
||
<property name="alignment">
|
||
<set>Qt::AlignCenter</set>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="1" column="2">
|
||
<widget class="QSlider" name="stepSizeSlider">
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="objrelation" stdset="0">
|
||
<stringlist>
|
||
<string>objname:RelayTuningSettings</string>
|
||
<string>fieldname:Amplitude</string>
|
||
<string>scale:0.01</string>
|
||
<string>haslimits:no</string>
|
||
</stringlist>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item row="0" column="3">
|
||
<spacer name="horizontalSpacer">
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>40</width>
|
||
<height>20</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
<item row="1" column="0">
|
||
<spacer name="horizontalSpacer_2">
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>40</width>
|
||
<height>20</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
<item row="2" column="0" colspan="4">
|
||
<widget class="QLabel" name="label_22">
|
||
<property name="text">
|
||
<string>The Apply and Save buttons below save the autotuning settings which
|
||
will alter settings for the next autotuning flight</string>
|
||
</property>
|
||
<property name="alignment">
|
||
<set>Qt::AlignCenter</set>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<spacer name="verticalSpacer">
|
||
<property name="orientation">
|
||
<enum>Qt::Vertical</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>20</width>
|
||
<height>77</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||
<property name="spacing">
|
||
<number>4</number>
|
||
</property>
|
||
<item>
|
||
<spacer name="horizontalSpacer_3">
|
||
<property name="orientation">
|
||
<enum>Qt::Horizontal</enum>
|
||
</property>
|
||
<property name="sizeType">
|
||
<enum>QSizePolicy::Expanding</enum>
|
||
</property>
|
||
<property name="sizeHint" stdset="0">
|
||
<size>
|
||
<width>13</width>
|
||
<height>25</height>
|
||
</size>
|
||
</property>
|
||
</spacer>
|
||
</item>
|
||
<item>
|
||
<widget class="QPushButton" name="stabilizationReloadBoardData_6">
|
||
<property name="minimumSize">
|
||
<size>
|
||
<width>0</width>
|
||
<height>0</height>
|
||
</size>
|
||
</property>
|
||
<property name="toolTip">
|
||
<string>Reloads the saved settings into GCS.
|
||
Useful if you have accidentally changed some settings.</string>
|
||
</property>
|
||
<property name="styleSheet">
|
||
<string notr="true"/>
|
||
</property>
|
||
<property name="text">
|
||
<string>Reload Board Data</string>
|
||
</property>
|
||
<property name="objrelation" stdset="0">
|
||
<stringlist>
|
||
<string>button:reload</string>
|
||
<string>buttongroup:10</string>
|
||
</stringlist>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QPushButton" name="saveStabilizationToRAM_6">
|
||
<property name="minimumSize">
|
||
<size>
|
||
<width>0</width>
|
||
<height>0</height>
|
||
</size>
|
||
</property>
|
||
<property name="toolTip">
|
||
<string>Send settings to the board but do not save to the non-volatile memory</string>
|
||
</property>
|
||
<property name="styleSheet">
|
||
<string notr="true"/>
|
||
</property>
|
||
<property name="text">
|
||
<string>Apply</string>
|
||
</property>
|
||
<property name="objrelation" stdset="0">
|
||
<stringlist>
|
||
<string>button:apply</string>
|
||
</stringlist>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
<item>
|
||
<widget class="QPushButton" name="saveStabilizationToSD_6">
|
||
<property name="minimumSize">
|
||
<size>
|
||
<width>0</width>
|
||
<height>0</height>
|
||
</size>
|
||
</property>
|
||
<property name="toolTip">
|
||
<string>Send settings to the board and save to the non-volatile memory</string>
|
||
</property>
|
||
<property name="styleSheet">
|
||
<string notr="true"/>
|
||
</property>
|
||
<property name="text">
|
||
<string>Save</string>
|
||
</property>
|
||
<property name="objrelation" stdset="0">
|
||
<stringlist>
|
||
<string>button:save</string>
|
||
</stringlist>
|
||
</property>
|
||
</widget>
|
||
</item>
|
||
</layout>
|
||
</item>
|
||
</layout>
|
||
</widget>
|
||
<resources/>
|
||
<connections/>
|
||
</ui>
|