mirror of
https://bitbucket.org/librepilot/librepilot.git
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9ece418912
Until better solution is provided, it is better to warn users that they must reboot board to enable the module.
684 lines
27 KiB
XML
684 lines
27 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>6</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="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="margin">
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<number>12</number>
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</property>
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<item row="3" 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:'MS Shell Dlg 2'; font-size:8.25pt; 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-family:'Lucida Grande'; 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; font-family:'Lucida Grande'; font-size:13pt;"></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:'Lucida Grande'; font-size:13pt;"><br /></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:'Lucida Grande'; font-size:13pt;"><br /></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:'Lucida Grande'; font-size:13pt;">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><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> 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 /></span></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=" font-family:'Lucida Grande'; font-size:13pt;" 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=" font-family:'Lucida Grande'; font-size:13pt;" 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=" font-family:'Lucida Grande'; font-size:13pt;" 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=" font-family:'Lucida Grande'; font-size:13pt;" 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=" font-family:'Lucida Grande'; font-size:13pt;" 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=" font-family:'Lucida Grande'; font-size:13pt;" 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 above 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="2" column="0" colspan="3">
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<widget class="QGroupBox" name="groupBox_5">
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<property name="title">
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<string>Module Control</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_4">
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<item>
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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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<item>
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<widget class="QLabel" name="label_13">
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<property name="text">
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<string>After enabling the module, you must power cycle before using and configuring.</string>
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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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</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>709</width>
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<height>605</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">
|
||
<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">
|
||
<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>
|
||
</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>
|