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

   1 <?xml version="1.0" encoding="UTF-8"?>
   2 <ui version="4.0">
   3  <class>RevoSensorsWidget</class>
   4  <widget class="QWidget" name="RevoSensorsWidget">
   5   <property name="geometry">
   6    <rect>
   7     <x>0</x>
   8     <y>0</y>
   9     <width>935</width>
  10     <height>726</height>
  11    </rect>
  12   </property>
  13   <property name="windowTitle">
  14    <string>Form</string>
  15   </property>
  16   <layout class="QVBoxLayout" name="verticalLayout">
  17    <item>
  18     <widget class="QTabWidget" name="tabWidget">
  19      <property name="autoFillBackground">
  20       <bool>true</bool>
  21      </property>
  22      <property name="currentIndex">
  23       <number>0</number>
  24      </property>
  25      <widget class="QWidget" name="calibrationTab">
  26       <property name="autoFillBackground">
  27        <bool>true</bool>
  28       </property>
  29       <attribute name="title">
  30        <string>Calibration</string>
  31       </attribute>
  32       <layout class="QVBoxLayout" name="verticalLayout_11">
  33        <property name="spacing">
  34         <number>6</number>
  35        </property>
  36        <property name="leftMargin">
  37         <number>12</number>
  38        </property>
  39        <property name="topMargin">
  40         <number>12</number>
  41        </property>
  42        <property name="rightMargin">
  43         <number>12</number>
  44        </property>
  45        <property name="bottomMargin">
  46         <number>12</number>
  47        </property>
  48        <item>
  49         <layout class="QHBoxLayout" name="horizontalLayout">
  50          <property name="spacing">
  51           <number>6</number>
  52          </property>
  53          <property name="leftMargin">
  54           <number>0</number>
  55          </property>
  56          <property name="topMargin">
  57           <number>0</number>
  58          </property>
  59          <property name="rightMargin">
  60           <number>0</number>
  61          </property>
  62          <property name="bottomMargin">
  63           <number>0</number>
  64          </property>
  65          <item>
  66           <widget class="QGraphicsView" name="calibrationVisualHelp">
  67            <property name="sizePolicy">
  68             <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
  69              <horstretch>0</horstretch>
  70              <verstretch>0</verstretch>
  71             </sizepolicy>
  72            </property>
  73            <property name="frameShape">
  74             <enum>QFrame::NoFrame</enum>
  75            </property>
  76            <property name="lineWidth">
  77             <number>0</number>
  78            </property>
  79            <property name="verticalScrollBarPolicy">
  80             <enum>Qt::ScrollBarAlwaysOff</enum>
  81            </property>
  82            <property name="horizontalScrollBarPolicy">
  83             <enum>Qt::ScrollBarAlwaysOff</enum>
  84            </property>
  85            <property name="sizeAdjustPolicy">
  86             <enum>QAbstractScrollArea::AdjustToContents</enum>
  87            </property>
  88            <property name="interactive">
  89             <bool>false</bool>
  90            </property>
  91           </widget>
  92          </item>
  93          <item>
  94           <layout class="QVBoxLayout" name="verticalLayout_2">
  95            <property name="spacing">
  96             <number>6</number>
  97            </property>
  98            <property name="leftMargin">
  99             <number>0</number>
 100            </property>
 101            <property name="topMargin">
 102             <number>0</number>
 103            </property>
 104            <property name="rightMargin">
 105             <number>0</number>
 106            </property>
 107            <property name="bottomMargin">
 108             <number>0</number>
 109            </property>
 110            <item>
 111             <widget class="QGroupBox" name="accelCalGroupBox">
 112              <property name="title">
 113               <string>Accelerometer calibration</string>
 114              </property>
 115              <layout class="QHBoxLayout" name="horizontalLayout_4">
 116               <item>
 117                <widget class="QPushButton" name="accelStart">
 118                 <property name="enabled">
 119                  <bool>true</bool>
 120                 </property>
 121                 <property name="toolTip">
 122                  <string>Launch accelerometer range and bias calibration.</string>
 123                 </property>
 124                 <property name="text">
 125                  <string>Start</string>
 126                 </property>
 127                </widget>
 128               </item>
 129               <item>
 130                <widget class="QProgressBar" name="accelProgress">
 131                 <property name="value">
 132                  <number>0</number>
 133                 </property>
 134                </widget>
 135               </item>
 136               <item>
 137                <widget class="QPushButton" name="accelSavePos">
 138                 <property name="enabled">
 139                  <bool>true</bool>
 140                 </property>
 141                 <property name="toolTip">
 142                  <string>Save settings (only enabled when calibration is running)</string>
 143                 </property>
 144                 <property name="text">
 145                  <string>Save Position</string>
 146                 </property>
 147                </widget>
 148               </item>
 149              </layout>
 150             </widget>
 151            </item>
 152            <item>
 153             <widget class="QGroupBox" name="magCalGroupBox">
 154              <property name="title">
 155               <string>Magnetometer calibration</string>
 156              </property>
 157              <layout class="QHBoxLayout" name="horizontalLayout_3">
 158               <item>
 159                <widget class="QPushButton" name="magStart">
 160                 <property name="enabled">
 161                  <bool>true</bool>
 162                 </property>
 163                 <property name="toolTip">
 164                  <string>Launch magnetometer range and bias calibration.</string>
 165                 </property>
 166                 <property name="text">
 167                  <string>Start</string>
 168                 </property>
 169                </widget>
 170               </item>
 171               <item>
 172                <widget class="QProgressBar" name="magProgress">
 173                 <property name="value">
 174                  <number>0</number>
 175                 </property>
 176                </widget>
 177               </item>
 178               <item>
 179                <widget class="QPushButton" name="magSavePos">
 180                 <property name="enabled">
 181                  <bool>true</bool>
 182                 </property>
 183                 <property name="text">
 184                  <string>Save Position</string>
 185                 </property>
 186                </widget>
 187               </item>
 188              </layout>
 189             </widget>
 190            </item>
 191            <item>
 192             <widget class="QGroupBox" name="boardLevelCalGroupBox">
 193              <property name="title">
 194               <string>Board level calibration</string>
 195              </property>
 196              <layout class="QHBoxLayout">
 197               <item>
 198                <widget class="QPushButton" name="boardLevelStart">
 199                 <property name="enabled">
 200                  <bool>true</bool>
 201                 </property>
 202                 <property name="text">
 203                  <string>Start</string>
 204                 </property>
 205                </widget>
 206               </item>
 207               <item>
 208                <widget class="QProgressBar" name="boardLevelProgress">
 209                 <property name="value">
 210                  <number>0</number>
 211                 </property>
 212                 <property name="textVisible">
 213                  <bool>true</bool>
 214                 </property>
 215                </widget>
 216               </item>
 217               <item>
 218                <widget class="QPushButton" name="boardLevelSavePos">
 219                 <property name="enabled">
 220                  <bool>true</bool>
 221                 </property>
 222                 <property name="text">
 223                  <string>Save Position</string>
 224                 </property>
 225                </widget>
 226               </item>
 227              </layout>
 228             </widget>
 229            </item>
 230            <item>
 231             <widget class="QGroupBox" name="gyroBiasGroupBox">
 232              <property name="title">
 233               <string>Gyro bias calibration</string>
 234              </property>
 235              <layout class="QHBoxLayout">
 236               <item>
 237                <widget class="QPushButton" name="gyroBiasStart">
 238                 <property name="enabled">
 239                  <bool>true</bool>
 240                 </property>
 241                 <property name="sizePolicy">
 242                  <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
 243                   <horstretch>0</horstretch>
 244                   <verstretch>0</verstretch>
 245                  </sizepolicy>
 246                 </property>
 247                 <property name="text">
 248                  <string>Start</string>
 249                 </property>
 250                </widget>
 251               </item>
 252               <item>
 253                <widget class="QProgressBar" name="gyroBiasProgress">
 254                 <property name="minimumSize">
 255                  <size>
 256                   <width>300</width>
 257                   <height>0</height>
 258                  </size>
 259                 </property>
 260                 <property name="maximumSize">
 261                  <size>
 262                   <width>16777215</width>
 263                   <height>16777215</height>
 264                  </size>
 265                 </property>
 266                 <property name="value">
 267                  <number>0</number>
 268                 </property>
 269                 <property name="textVisible">
 270                  <bool>true</bool>
 271                 </property>
 272                </widget>
 273               </item>
 274              </layout>
 275             </widget>
 276            </item>
 277            <item>
 278             <widget class="QGroupBox" name="thermalCalGroupBox">
 279              <property name="title">
 280               <string>Thermal calibration</string>
 281              </property>
 282              <layout class="QVBoxLayout">
 283               <item>
 284                <layout class="QHBoxLayout" name="horizontalLayout_thermalbias2">
 285                 <item>
 286                  <widget class="QPushButton" name="thermalBiasStart">
 287                   <property name="enabled">
 288                    <bool>true</bool>
 289                   </property>
 290                   <property name="text">
 291                    <string>Start</string>
 292                   </property>
 293                  </widget>
 294                 </item>
 295                 <item>
 296                  <widget class="QProgressBar" name="thermalBiasProgress">
 297                   <property name="minimumSize">
 298                    <size>
 299                     <width>300</width>
 300                     <height>0</height>
 301                    </size>
 302                   </property>
 303                   <property name="maximumSize">
 304                    <size>
 305                     <width>16777215</width>
 306                     <height>16777215</height>
 307                    </size>
 308                   </property>
 309                   <property name="value">
 310                    <number>0</number>
 311                   </property>
 312                   <property name="textVisible">
 313                    <bool>true</bool>
 314                   </property>
 315                  </widget>
 316                 </item>
 317                 <item>
 318                  <widget class="QPushButton" name="thermalBiasEnd">
 319                   <property name="enabled">
 320                    <bool>true</bool>
 321                   </property>
 322                   <property name="text">
 323                    <string>End</string>
 324                   </property>
 325                  </widget>
 326                 </item>
 327                 <item>
 328                  <widget class="QPushButton" name="thermalBiasCancel">
 329                   <property name="enabled">
 330                    <bool>true</bool>
 331                   </property>
 332                   <property name="text">
 333                    <string>Cancel</string>
 334                   </property>
 335                  </widget>
 336                 </item>
 337                </layout>
 338               </item>
 339               <item>
 340                <layout class="QHBoxLayout" name="horizontalLayout_2">
 341                 <property name="spacing">
 342                  <number>12</number>
 343                 </property>
 344                 <property name="leftMargin">
 345                  <number>0</number>
 346                 </property>
 347                 <property name="topMargin">
 348                  <number>0</number>
 349                 </property>
 350                 <item>
 351                  <widget class="QLabel" name="temperatureLabel">
 352                   <property name="sizePolicy">
 353                    <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
 354                     <horstretch>0</horstretch>
 355                     <verstretch>0</verstretch>
 356                    </sizepolicy>
 357                   </property>
 358                   <property name="font">
 359                    <font>
 360                     <weight>50</weight>
 361                     <bold>false</bold>
 362                    </font>
 363                   </property>
 364                   <property name="text">
 365                    <string>&lt;temperature&gt;</string>
 366                   </property>
 367                  </widget>
 368                 </item>
 369                 <item>
 370                  <widget class="QLabel" name="temperatureGradientLabel">
 371                   <property name="sizePolicy">
 372                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
 373                     <horstretch>0</horstretch>
 374                     <verstretch>0</verstretch>
 375                    </sizepolicy>
 376                   </property>
 377                   <property name="text">
 378                    <string>&lt;gradient&gt;</string>
 379                   </property>
 380                  </widget>
 381                 </item>
 382                 <item>
 383                  <widget class="QLabel" name="temperatureRangeLabel">
 384                   <property name="text">
 385                    <string>&lt;range&gt;</string>
 386                   </property>
 387                  </widget>
 388                 </item>
 389                 <item>
 390                  <spacer name="horizontalSpacer_3">
 391                   <property name="orientation">
 392                    <enum>Qt::Horizontal</enum>
 393                   </property>
 394                   <property name="sizeHint" stdset="0">
 395                    <size>
 396                     <width>40</width>
 397                     <height>20</height>
 398                    </size>
 399                   </property>
 400                  </spacer>
 401                 </item>
 402                </layout>
 403               </item>
 404              </layout>
 405             </widget>
 406            </item>
 407            <item>
 408             <widget class="QTextEdit" name="calibrationInstructions">
 409              <property name="sizePolicy">
 410               <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
 411                <horstretch>0</horstretch>
 412                <verstretch>0</verstretch>
 413               </sizepolicy>
 414              </property>
 415              <property name="font">
 416               <font>
 417                <pointsize>10</pointsize>
 418                <weight>50</weight>
 419                <bold>false</bold>
 420               </font>
 421              </property>
 422              <property name="toolTip">
 423               <string>Calibration status</string>
 424              </property>
 425              <property name="frameShape">
 426               <enum>QFrame::StyledPanel</enum>
 427              </property>
 428              <property name="verticalScrollBarPolicy">
 429               <enum>Qt::ScrollBarAlwaysOn</enum>
 430              </property>
 431              <property name="horizontalScrollBarPolicy">
 432               <enum>Qt::ScrollBarAlwaysOff</enum>
 433              </property>
 434              <property name="sizeAdjustPolicy">
 435               <enum>QAbstractScrollArea::AdjustIgnored</enum>
 436              </property>
 437              <property name="html">
 438               <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 439 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 440 p, li { white-space: pre-wrap; }
 441 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
 442 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
 443              </property>
 444              <property name="textInteractionFlags">
 445               <set>Qt::NoTextInteraction</set>
 446              </property>
 447             </widget>
 448            </item>
 449           </layout>
 450          </item>
 451         </layout>
 452        </item>
 453        <item>
 454         <spacer name="verticalSpacer_4">
 455          <property name="orientation">
 456           <enum>Qt::Vertical</enum>
 457          </property>
 458          <property name="sizeHint" stdset="0">
 459           <size>
 460            <width>20</width>
 461            <height>40</height>
 462           </size>
 463          </property>
 464         </spacer>
 465        </item>
 466       </layout>
 467      </widget>
 468      <widget class="QWidget" name="settingsTab">
 469       <property name="autoFillBackground">
 470        <bool>true</bool>
 471       </property>
 472       <attribute name="title">
 473        <string>Settings</string>
 474       </attribute>
 475       <layout class="QVBoxLayout" name="verticalLayout_6">
 476        <item>
 477         <layout class="QGridLayout" name="gridLayout_4">
 478          <property name="leftMargin">
 479           <number>6</number>
 480          </property>
 481          <property name="topMargin">
 482           <number>6</number>
 483          </property>
 484          <property name="rightMargin">
 485           <number>6</number>
 486          </property>
 487          <property name="bottomMargin">
 488           <number>6</number>
 489          </property>
 490          <item row="1" column="1">
 491           <widget class="QGroupBox" name="groupBox_3">
 492            <property name="title">
 493             <string>Rotate virtual attitude relative to board</string>
 494            </property>
 495            <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0,0,0,0">
 496             <item row="1" column="2">
 497              <spacer name="horizontalSpacer_8">
 498               <property name="orientation">
 499                <enum>Qt::Horizontal</enum>
 500               </property>
 501               <property name="sizeHint" stdset="0">
 502                <size>
 503                 <width>40</width>
 504                 <height>20</height>
 505                </size>
 506               </property>
 507              </spacer>
 508             </item>
 509             <item row="1" column="3">
 510              <widget class="QDoubleSpinBox" name="pitchRotation">
 511               <property name="minimum">
 512                <double>-180.000000000000000</double>
 513               </property>
 514               <property name="maximum">
 515                <double>180.000000000000000</double>
 516               </property>
 517              </widget>
 518             </item>
 519             <item row="1" column="4">
 520              <spacer name="horizontalSpacer_9">
 521               <property name="orientation">
 522                <enum>Qt::Horizontal</enum>
 523               </property>
 524               <property name="sizeHint" stdset="0">
 525                <size>
 526                 <width>40</width>
 527                 <height>20</height>
 528                </size>
 529               </property>
 530              </spacer>
 531             </item>
 532             <item row="0" column="1">
 533              <widget class="QLabel" name="label_12">
 534               <property name="minimumSize">
 535                <size>
 536                 <width>70</width>
 537                 <height>0</height>
 538                </size>
 539               </property>
 540               <property name="styleSheet">
 541                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 542 color: rgb(255, 255, 255);
 543 border-radius: 5;
 544 margin:1px;
 545 font:bold;</string>
 546               </property>
 547               <property name="text">
 548                <string>Roll</string>
 549               </property>
 550               <property name="alignment">
 551                <set>Qt::AlignCenter</set>
 552               </property>
 553              </widget>
 554             </item>
 555             <item row="0" column="5">
 556              <widget class="QLabel" name="label_13">
 557               <property name="minimumSize">
 558                <size>
 559                 <width>70</width>
 560                 <height>0</height>
 561                </size>
 562               </property>
 563               <property name="styleSheet">
 564                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 565 color: rgb(255, 255, 255);
 566 border-radius: 5;
 567 margin:1px;
 568 font:bold;</string>
 569               </property>
 570               <property name="text">
 571                <string>Yaw</string>
 572               </property>
 573               <property name="alignment">
 574                <set>Qt::AlignCenter</set>
 575               </property>
 576              </widget>
 577             </item>
 578             <item row="1" column="0">
 579              <spacer name="horizontalSpacer_7">
 580               <property name="orientation">
 581                <enum>Qt::Horizontal</enum>
 582               </property>
 583               <property name="sizeHint" stdset="0">
 584                <size>
 585                 <width>40</width>
 586                 <height>20</height>
 587                </size>
 588               </property>
 589              </spacer>
 590             </item>
 591             <item row="1" column="1">
 592              <widget class="QDoubleSpinBox" name="rollRotation">
 593               <property name="minimum">
 594                <double>-180.000000000000000</double>
 595               </property>
 596               <property name="maximum">
 597                <double>180.000000000000000</double>
 598               </property>
 599              </widget>
 600             </item>
 601             <item row="0" column="3">
 602              <widget class="QLabel" name="label_15">
 603               <property name="minimumSize">
 604                <size>
 605                 <width>70</width>
 606                 <height>0</height>
 607                </size>
 608               </property>
 609               <property name="styleSheet">
 610                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 611 color: rgb(255, 255, 255);
 612 border-radius: 5;
 613 margin:1px;
 614 font:bold;</string>
 615               </property>
 616               <property name="text">
 617                <string>Pitch</string>
 618               </property>
 619               <property name="alignment">
 620                <set>Qt::AlignCenter</set>
 621               </property>
 622              </widget>
 623             </item>
 624             <item row="1" column="5">
 625              <widget class="QDoubleSpinBox" name="yawRotation">
 626               <property name="minimum">
 627                <double>-180.000000000000000</double>
 628               </property>
 629               <property name="maximum">
 630                <double>180.000000000000000</double>
 631               </property>
 632              </widget>
 633             </item>
 634            </layout>
 635           </widget>
 636          </item>
 637          <item row="1" column="0">
 638           <widget class="QGroupBox" name="groupBox_4">
 639            <property name="title">
 640             <string>Filtering</string>
 641            </property>
 642            <layout class="QGridLayout" name="gridLayout_5">
 643             <item row="0" column="0">
 644              <widget class="QLabel" name="label_14">
 645               <property name="toolTip">
 646                <string/>
 647               </property>
 648               <property name="styleSheet">
 649                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 650 color: rgb(255, 255, 255);
 651 border-radius: 5;
 652 margin:1px;
 653 font:bold;</string>
 654               </property>
 655               <property name="text">
 656                <string>Accelerometers</string>
 657               </property>
 658               <property name="alignment">
 659                <set>Qt::AlignCenter</set>
 660               </property>
 661              </widget>
 662             </item>
 663             <item row="1" column="0">
 664              <widget class="QDoubleSpinBox" name="accelTau">
 665               <property name="toolTip">
 666                <string>Accelerometer filtering.
 667
 668 Sets the amount of lowpass filtering of accelerometer data
 669 for the attitude estimation. Higher values apply a stronger
 670 filter, which may help with drifting in attitude mode.
 671
 672 Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
 673 Start low and raise until drift stops.
 674
 675 A setting of 0.00 disables the filter.</string>
 676               </property>
 677               <property name="maximum">
 678                <double>2.000000000000000</double>
 679               </property>
 680               <property name="singleStep">
 681                <double>0.010000000000000</double>
 682               </property>
 683              </widget>
 684             </item>
 685            </layout>
 686           </widget>
 687          </item>
 688          <item row="0" column="0">
 689           <widget class="QGroupBox" name="groupBox_2">
 690            <property name="sizePolicy">
 691             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
 692              <horstretch>0</horstretch>
 693              <verstretch>0</verstretch>
 694             </sizepolicy>
 695            </property>
 696            <property name="title">
 697             <string>Attitude Estimation Algorithm</string>
 698            </property>
 699            <property name="alignment">
 700             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
 701            </property>
 702            <layout class="QGridLayout" name="gridLayout_3">
 703             <item row="0" column="0" alignment="Qt::AlignTop">
 704              <widget class="QComboBox" name="FusionAlgorithm">
 705               <property name="sizePolicy">
 706                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
 707                 <horstretch>0</horstretch>
 708                 <verstretch>0</verstretch>
 709                </sizepolicy>
 710               </property>
 711               <property name="toolTip">
 712                <string>Selects the sensor integration algorithm to be used by the Revolution board.</string>
 713               </property>
 714              </widget>
 715             </item>
 716             <item row="1" column="0">
 717              <spacer name="verticalSpacer_2">
 718               <property name="orientation">
 719                <enum>Qt::Vertical</enum>
 720               </property>
 721               <property name="sizeType">
 722                <enum>QSizePolicy::MinimumExpanding</enum>
 723               </property>
 724               <property name="sizeHint" stdset="0">
 725                <size>
 726                 <width>20</width>
 727                 <height>0</height>
 728                </size>
 729               </property>
 730              </spacer>
 731             </item>
 732            </layout>
 733           </widget>
 734          </item>
 735          <item row="0" column="1">
 736           <widget class="QGroupBox" name="groupBox">
 737            <property name="sizePolicy">
 738             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
 739              <horstretch>0</horstretch>
 740              <verstretch>0</verstretch>
 741             </sizepolicy>
 742            </property>
 743            <property name="title">
 744             <string>Home Location</string>
 745            </property>
 746            <property name="alignment">
 747             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
 748            </property>
 749            <layout class="QGridLayout" name="gridLayout_2">
 750             <property name="sizeConstraint">
 751              <enum>QLayout::SetDefaultConstraint</enum>
 752             </property>
 753             <item row="2" column="3">
 754              <widget class="QLabel" name="label_10">
 755               <property name="text">
 756                <string>Gravity acceleration:</string>
 757               </property>
 758              </widget>
 759             </item>
 760             <item row="1" column="0">
 761              <widget class="QLabel" name="label_2">
 762               <property name="text">
 763                <string>Latitude:</string>
 764               </property>
 765              </widget>
 766             </item>
 767             <item row="2" column="5">
 768              <widget class="QLineEdit" name="geBox">
 769               <property name="alignment">
 770                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
 771               </property>
 772               <property name="readOnly">
 773                <bool>true</bool>
 774               </property>
 775               <property name="objrelation" stdset="0">
 776                <stringlist>
 777                 <string>objname:HomeLocation</string>
 778                 <string>fieldname:g_e</string>
 779                </stringlist>
 780               </property>
 781              </widget>
 782             </item>
 783             <item row="1" column="2">
 784              <widget class="QLineEdit" name="lattitudeBox">
 785               <property name="alignment">
 786                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
 787               </property>
 788               <property name="readOnly">
 789                <bool>true</bool>
 790               </property>
 791               <property name="objrelation" stdset="0">
 792                <stringlist>
 793                 <string>objname:HomeLocation</string>
 794                 <string>fieldname:Latitude</string>
 795                </stringlist>
 796               </property>
 797              </widget>
 798             </item>
 799             <item row="1" column="5">
 800              <widget class="QLineEdit" name="beBox">
 801               <property name="alignment">
 802                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
 803               </property>
 804               <property name="readOnly">
 805                <bool>true</bool>
 806               </property>
 807              </widget>
 808             </item>
 809             <item row="3" column="0">
 810              <widget class="QLabel" name="label_8">
 811               <property name="text">
 812                <string>Altitude:</string>
 813               </property>
 814              </widget>
 815             </item>
 816             <item row="3" column="2">
 817              <widget class="QLineEdit" name="altitudeBox">
 818               <property name="alignment">
 819                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
 820               </property>
 821               <property name="readOnly">
 822                <bool>true</bool>
 823               </property>
 824               <property name="objrelation" stdset="0">
 825                <stringlist>
 826                 <string>objname:HomeLocation</string>
 827                 <string>fieldname:Altitude</string>
 828                </stringlist>
 829               </property>
 830              </widget>
 831             </item>
 832             <item row="1" column="3">
 833              <widget class="QLabel" name="label_9">
 834               <property name="text">
 835                <string>Magnetic field vector:</string>
 836               </property>
 837              </widget>
 838             </item>
 839             <item row="0" column="0" colspan="6">
 840              <widget class="QLabel" name="label_11">
 841               <property name="text">
 842                <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This information must be set to enable calibration the Revolution controllers sensors. &lt;br/&gt;Set home location using context menu in the map widget.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
 843               </property>
 844              </widget>
 845             </item>
 846             <item row="2" column="2">
 847              <widget class="QLineEdit" name="longitudeBox">
 848               <property name="alignment">
 849                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
 850               </property>
 851               <property name="readOnly">
 852                <bool>true</bool>
 853               </property>
 854               <property name="objrelation" stdset="0">
 855                <stringlist>
 856                 <string>objname:HomeLocation</string>
 857                 <string>fieldname:Longitude</string>
 858                </stringlist>
 859               </property>
 860              </widget>
 861             </item>
 862             <item row="3" column="5">
 863              <widget class="QCheckBox" name="isSetCheckBox">
 864               <property name="enabled">
 865                <bool>false</bool>
 866               </property>
 867               <property name="text">
 868                <string>Is Set</string>
 869               </property>
 870               <property name="checkable">
 871                <bool>true</bool>
 872               </property>
 873               <property name="objrelation" stdset="0">
 874                <stringlist>
 875                 <string>objname:HomeLocation</string>
 876                 <string>fieldname:Set</string>
 877                </stringlist>
 878               </property>
 879              </widget>
 880             </item>
 881             <item row="2" column="0">
 882              <widget class="QLabel" name="label_4">
 883               <property name="text">
 884                <string>Longitude:</string>
 885               </property>
 886              </widget>
 887             </item>
 888             <item row="5" column="5" alignment="Qt::AlignRight">
 889              <widget class="QPushButton" name="hlClearButton">
 890               <property name="sizePolicy">
 891                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
 892                 <horstretch>0</horstretch>
 893                 <verstretch>0</verstretch>
 894                </sizepolicy>
 895               </property>
 896               <property name="text">
 897                <string>Clear</string>
 898               </property>
 899              </widget>
 900             </item>
 901             <item row="4" column="5">
 902              <spacer name="verticalSpacer_3">
 903               <property name="orientation">
 904                <enum>Qt::Vertical</enum>
 905               </property>
 906               <property name="sizeHint" stdset="0">
 907                <size>
 908                 <width>20</width>
 909                 <height>0</height>
 910                </size>
 911               </property>
 912              </spacer>
 913             </item>
 914            </layout>
 915           </widget>
 916          </item>
 917          <item row="0" column="2">
 918           <spacer name="horizontalSpacer_2">
 919            <property name="orientation">
 920             <enum>Qt::Horizontal</enum>
 921            </property>
 922            <property name="sizeType">
 923             <enum>QSizePolicy::Expanding</enum>
 924            </property>
 925            <property name="sizeHint" stdset="0">
 926             <size>
 927              <width>50</width>
 928              <height>20</height>
 929             </size>
 930            </property>
 931           </spacer>
 932          </item>
 933         </layout>
 934        </item>
 935        <item>
 936         <spacer name="verticalSpacer">
 937          <property name="orientation">
 938           <enum>Qt::Vertical</enum>
 939          </property>
 940          <property name="sizeType">
 941           <enum>QSizePolicy::Expanding</enum>
 942          </property>
 943          <property name="sizeHint" stdset="0">
 944           <size>
 945            <width>20</width>
 946            <height>100</height>
 947           </size>
 948          </property>
 949         </spacer>
 950        </item>
 951       </layout>
 952      </widget>
 953      <widget class="QWidget" name="externalMagTab">
 954       <property name="enabled">
 955        <bool>true</bool>
 956       </property>
 957       <attribute name="title">
 958        <string>Magnetometer</string>
 959       </attribute>
 960       <layout class="QVBoxLayout" name="verticalLayout_5">
 961        <item>
 962         <layout class="QGridLayout" name="gridLayout_6">
 963          <property name="leftMargin">
 964           <number>6</number>
 965          </property>
 966          <property name="topMargin">
 967           <number>6</number>
 968          </property>
 969          <property name="rightMargin">
 970           <number>6</number>
 971          </property>
 972          <property name="bottomMargin">
 973           <number>6</number>
 974          </property>
 975          <item row="0" column="1">
 976           <widget class="QGroupBox" name="gridGroupBox">
 977            <property name="sizePolicy">
 978             <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
 979              <horstretch>0</horstretch>
 980              <verstretch>0</verstretch>
 981             </sizepolicy>
 982            </property>
 983            <property name="minimumSize">
 984             <size>
 985              <width>500</width>
 986              <height>0</height>
 987             </size>
 988            </property>
 989            <property name="title">
 990             <string>Auxiliary Magnetometer Orientation Help</string>
 991            </property>
 992            <layout class="QGridLayout" name="gridLayout_10">
 993             <property name="leftMargin">
 994              <number>6</number>
 995             </property>
 996             <property name="topMargin">
 997              <number>6</number>
 998             </property>
 999             <property name="rightMargin">
1000              <number>6</number>
1001             </property>
1002             <property name="bottomMargin">
1003              <number>6</number>
1004             </property>
1005             <item row="2" column="0">
1006              <widget class="QLabel" name="label_23">
1007               <property name="minimumSize">
1008                <size>
1009                 <width>80</width>
1010                 <height>30</height>
1011                </size>
1012               </property>
1013               <property name="maximumSize">
1014                <size>
1015                 <width>16777215</width>
1016                 <height>30</height>
1017                </size>
1018               </property>
1019               <property name="styleSheet">
1020                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
1021 color: rgb(255, 255, 255);
1022 border-radius: 5;
1023 margin:1px;
1024 font:bold;</string>
1025               </property>
1026               <property name="text">
1027                <string>Y axis</string>
1028               </property>
1029               <property name="alignment">
1030                <set>Qt::AlignCenter</set>
1031               </property>
1032              </widget>
1033             </item>
1034             <item row="3" column="0">
1035              <widget class="QLabel" name="label_22">
1036               <property name="minimumSize">
1037                <size>
1038                 <width>80</width>
1039                 <height>30</height>
1040                </size>
1041               </property>
1042               <property name="maximumSize">
1043                <size>
1044                 <width>16777215</width>
1045                 <height>30</height>
1046                </size>
1047               </property>
1048               <property name="styleSheet">
1049                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
1050 color: rgb(255, 255, 255);
1051 border-radius: 5;
1052 margin:1px;
1053 font:bold;</string>
1054               </property>
1055               <property name="text">
1056                <string>Z axis</string>
1057               </property>
1058               <property name="alignment">
1059                <set>Qt::AlignCenter</set>
1060               </property>
1061              </widget>
1062             </item>
1063             <item row="3" column="1">
1064              <widget class="QProgressBar" name="internalAuxErrorZ">
1065               <property name="toolTip">
1066                <string>Difference on Z axis</string>
1067               </property>
1068               <property name="minimum">
1069                <number>-50</number>
1070               </property>
1071               <property name="maximum">
1072                <number>50</number>
1073               </property>
1074               <property name="value">
1075                <number>0</number>
1076               </property>
1077               <property name="alignment">
1078                <set>Qt::AlignCenter</set>
1079               </property>
1080               <property name="format">
1081                <string>%v</string>
1082               </property>
1083              </widget>
1084             </item>
1085             <item row="2" column="1">
1086              <widget class="QProgressBar" name="internalAuxErrorY">
1087               <property name="toolTip">
1088                <string>Difference on Y axis</string>
1089               </property>
1090               <property name="minimum">
1091                <number>-50</number>
1092               </property>
1093               <property name="maximum">
1094                <number>50</number>
1095               </property>
1096               <property name="value">
1097                <number>0</number>
1098               </property>
1099               <property name="alignment">
1100                <set>Qt::AlignCenter</set>
1101               </property>
1102               <property name="format">
1103                <string>%v</string>
1104               </property>
1105              </widget>
1106             </item>
1107             <item row="0" column="0" colspan="2">
1108              <widget class="QTextEdit" name="textEdit">
1109               <property name="sizePolicy">
1110                <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
1111                 <horstretch>0</horstretch>
1112                 <verstretch>0</verstretch>
1113                </sizepolicy>
1114               </property>
1115               <property name="html">
1116                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
1117 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
1118 p, li { white-space: pre-wrap; }
1119 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
1120 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;The bargraphs show the difference between the onboard and auxiliary magnetometer measurements. &lt;/p&gt;
1121 &lt;p align=&quot;justify&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;When the auxiliary magnetometer rotation is set correctlly, all bargraphs should show all zero (bargraph centered) &lt;a name=&quot;result_box&quot;&gt;&lt;/a&gt;whatever the vehicle's orientation.&lt;/p&gt;
1122 &lt;p align=&quot;justify&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;This assumes both magnetometers are calibrated and without alarm.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
1123               </property>
1124               <property name="textInteractionFlags">
1125                <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
1126               </property>
1127              </widget>
1128             </item>
1129             <item row="1" column="1">
1130              <widget class="QProgressBar" name="internalAuxErrorX">
1131               <property name="toolTip">
1132                <string>Difference on X axis</string>
1133               </property>
1134               <property name="minimum">
1135                <number>-50</number>
1136               </property>
1137               <property name="maximum">
1138                <number>50</number>
1139               </property>
1140               <property name="value">
1141                <number>0</number>
1142               </property>
1143               <property name="alignment">
1144                <set>Qt::AlignCenter</set>
1145               </property>
1146               <property name="textVisible">
1147                <bool>true</bool>
1148               </property>
1149               <property name="format">
1150                <string>%v</string>
1151               </property>
1152              </widget>
1153             </item>
1154             <item row="1" column="0">
1155              <widget class="QLabel" name="label_24">
1156               <property name="minimumSize">
1157                <size>
1158                 <width>80</width>
1159                 <height>30</height>
1160                </size>
1161               </property>
1162               <property name="maximumSize">
1163                <size>
1164                 <width>16777215</width>
1165                 <height>30</height>
1166                </size>
1167               </property>
1168               <property name="styleSheet">
1169                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
1170 color: rgb(255, 255, 255);
1171 border-radius: 5;
1172 margin:1px;
1173 font:bold;</string>
1174               </property>
1175               <property name="text">
1176                <string>X axis</string>
1177               </property>
1178               <property name="alignment">
1179                <set>Qt::AlignCenter</set>
1180               </property>
1181              </widget>
1182             </item>
1183            </layout>
1184           </widget>
1185          </item>
1186          <item row="0" column="0">
1187           <layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0">
1188            <property name="sizeConstraint">
1189             <enum>QLayout::SetDefaultConstraint</enum>
1190            </property>
1191            <property name="leftMargin">
1192             <number>0</number>
1193            </property>
1194            <item>
1195             <widget class="QGroupBox" name="groupBox_8">
1196              <property name="sizePolicy">
1197               <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
1198                <horstretch>0</horstretch>
1199                <verstretch>0</verstretch>
1200               </sizepolicy>
1201              </property>
1202              <property name="title">
1203               <string>Magnetometer Settings</string>
1204              </property>
1205              <layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0,0">
1206               <property name="sizeConstraint">
1207                <enum>QLayout::SetMinimumSize</enum>
1208               </property>
1209               <item row="1" column="0">
1210                <widget class="QLabel" name="label_31">
1211                 <property name="minimumSize">
1212                  <size>
1213                   <width>80</width>
1214                   <height>0</height>
1215                  </size>
1216                 </property>
1217                 <property name="text">
1218                  <string>Mag type:</string>
1219                 </property>
1220                </widget>
1221               </item>
1222               <item row="0" column="0">
1223                <widget class="QLabel" name="label_32">
1224                 <property name="minimumSize">
1225                  <size>
1226                   <width>80</width>
1227                   <height>0</height>
1228                  </size>
1229                 </property>
1230                 <property name="text">
1231                  <string>Mag usage:</string>
1232                 </property>
1233                </widget>
1234               </item>
1235               <item row="1" column="1" colspan="2">
1236                <widget class="QComboBox" name="auxMagType">
1237                 <property name="sizePolicy">
1238                  <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
1239                   <horstretch>0</horstretch>
1240                   <verstretch>0</verstretch>
1241                  </sizepolicy>
1242                 </property>
1243                 <property name="minimumSize">
1244                  <size>
1245                   <width>100</width>
1246                   <height>0</height>
1247                  </size>
1248                 </property>
1249                 <property name="toolTip">
1250                  <string>Select the magnetometer type.</string>
1251                 </property>
1252                </widget>
1253               </item>
1254               <item row="0" column="1" colspan="2">
1255                <widget class="QComboBox" name="auxMagUsage">
1256                 <property name="sizePolicy">
1257                  <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
1258                   <horstretch>0</horstretch>
1259                   <verstretch>0</verstretch>
1260                  </sizepolicy>
1261                 </property>
1262                 <property name="minimumSize">
1263                  <size>
1264                   <width>100</width>
1265                   <height>0</height>
1266                  </size>
1267                 </property>
1268                 <property name="toolTip">
1269                  <string>Select how to use available magnetometers.</string>
1270                 </property>
1271                </widget>
1272               </item>
1273               <item row="2" column="1">
1274                <widget class="QDoubleSpinBox" name="maxDeviationWarning">
1275                 <property name="toolTip">
1276                  <string>Warning level in percent (default 5%)</string>
1277                 </property>
1278                 <property name="minimum">
1279                  <double>0.010000000000000</double>
1280                 </property>
1281                 <property name="maximum">
1282                  <double>0.150000000000000</double>
1283                 </property>
1284                 <property name="singleStep">
1285                  <double>0.010000000000000</double>
1286                 </property>
1287                 <property name="value">
1288                  <double>0.050000000000000</double>
1289                 </property>
1290                </widget>
1291               </item>
1292               <item row="2" column="2">
1293                <widget class="QDoubleSpinBox" name="maxDeviationError">
1294                 <property name="toolTip">
1295                  <string>Error level in percent (default 15%)</string>
1296                 </property>
1297                 <property name="minimum">
1298                  <double>0.150000000000000</double>
1299                 </property>
1300                 <property name="maximum">
1301                  <double>0.300000000000000</double>
1302                 </property>
1303                 <property name="singleStep">
1304                  <double>0.010000000000000</double>
1305                 </property>
1306                </widget>
1307               </item>
1308               <item row="2" column="0">
1309                <widget class="QLabel" name="label_5">
1310                 <property name="text">
1311                  <string>Warning / Error levels:</string>
1312                 </property>
1313                </widget>
1314               </item>
1315               <item row="2" column="3">
1316                <spacer name="horizontalSpacer_4">
1317                 <property name="orientation">
1318                  <enum>Qt::Horizontal</enum>
1319                 </property>
1320                 <property name="sizeType">
1321                  <enum>QSizePolicy::Expanding</enum>
1322                 </property>
1323                 <property name="sizeHint" stdset="0">
1324                  <size>
1325                   <width>40</width>
1326                   <height>20</height>
1327                  </size>
1328                 </property>
1329                </spacer>
1330               </item>
1331              </layout>
1332             </widget>
1333            </item>
1334            <item>
1335             <widget class="QGroupBox" name="groupBox_9">
1336              <property name="sizePolicy">
1337               <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
1338                <horstretch>0</horstretch>
1339                <verstretch>0</verstretch>
1340               </sizepolicy>
1341              </property>
1342              <property name="title">
1343               <string>Magnetometer Status</string>
1344              </property>
1345              <layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0,0,0">
1346               <property name="sizeConstraint">
1347                <enum>QLayout::SetMinimumSize</enum>
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1349               <item row="4" column="1">
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1352                  <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
1353                   <horstretch>0</horstretch>
1354                   <verstretch>0</verstretch>
1355                  </sizepolicy>
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1357                 <property name="minimumSize">
1358                  <size>
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1360                   <height>35</height>
1361                  </size>
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1364                  <string notr="true">background-color: green;
1365 color: rgb(255, 255, 255);
1366 border-radius: 5;
1367 margin:1px;
1368 font:bold;</string>
1369                 </property>
1370                 <property name="text">
1371                  <string>Onboard</string>
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1376                </widget>
1377               </item>
1378               <item row="4" column="2">
1379                <widget class="QLabel" name="auxMagStatus">
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1388                   <width>100</width>
1389                   <height>40</height>
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1394 color: rgb(255, 255, 255);
1395 border-radius: 5;
1396 margin:1px;
1397 font:bold;</string>
1398                 </property>
1399                 <property name="text">
1400                  <string>AuxMag</string>
1401                 </property>
1402                 <property name="alignment">
1403                  <set>Qt::AlignCenter</set>
1404                 </property>
1405                </widget>
1406               </item>
1407               <item row="1" column="0">
1408                <widget class="QLabel" name="label">
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1410                  <size>
1411                   <width>110</width>
1412                   <height>20</height>
1413                  </size>
1414                 </property>
1415                 <property name="text">
1416                  <string>Mag source:</string>
1417                 </property>
1418                </widget>
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1420               <item row="4" column="0">
1421                <widget class="QLabel" name="label_3">
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1430                   <width>0</width>
1431                   <height>0</height>
1432                  </size>
1433                 </property>
1434                 <property name="text">
1435                  <string>Mag alarms:</string>
1436                 </property>
1437                </widget>
1438               </item>
1439               <item row="4" column="3">
1440                <spacer name="horizontalSpacer_5">
1441                 <property name="orientation">
1442                  <enum>Qt::Horizontal</enum>
1443                 </property>
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1445                  <enum>QSizePolicy::Expanding</enum>
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1447                 <property name="sizeHint" stdset="0">
1448                  <size>
1449                   <width>40</width>
1450                   <height>20</height>
1451                  </size>
1452                 </property>
1453                </spacer>
1454               </item>
1455               <item row="1" column="1" colspan="2">
1456                <widget class="QLabel" name="magStatusSource">
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1459                   <horstretch>0</horstretch>
1460                   <verstretch>0</verstretch>
1461                  </sizepolicy>
1462                 </property>
1463                 <property name="text">
1464                  <string>external</string>
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1469             </widget>
1470            </item>
1471            <item>
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1476                <verstretch>0</verstretch>
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1478              </property>
1479              <property name="title">
1480               <string>Auxiliary Magnetometer Orientation</string>
1481              </property>
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1487                <widget class="QLabel" name="label_29">
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1490                   <width>70</width>
1491                   <height>30</height>
1492                  </size>
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1497                   <height>30</height>
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1502 color: rgb(255, 255, 255);
1503 border-radius: 5;
1504 margin:1px;
1505 font:bold;</string>
1506                 </property>
1507                 <property name="text">
1508                  <string>Roll</string>
1509                 </property>
1510                 <property name="alignment">
1511                  <set>Qt::AlignCenter</set>
1512                 </property>
1513                </widget>
1514               </item>
1515               <item row="4" column="1">
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1528               <item row="4" column="2">
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1531                  <number>0</number>
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1534                  <double>-180.000000000000000</double>
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1537                  <double>180.000000000000000</double>
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1546                   <verstretch>0</verstretch>
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1550                  <size>
1551                   <width>70</width>
1552                   <height>30</height>
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1558                   <height>30</height>
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1562                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
1563 color: rgb(255, 255, 255);
1564 border-radius: 5;
1565 margin:1px;
1566 font:bold;</string>
1567                 </property>
1568                 <property name="text">
1569                  <string>Pitch</string>
1570                 </property>
1571                 <property name="alignment">
1572                  <set>Qt::AlignCenter</set>
1573                 </property>
1574                </widget>
1575               </item>
1576               <item row="4" column="0">
1577                <widget class="QDoubleSpinBox" name="auxMagRollRotation">
1578                 <property name="toolTip">
1579                  <string/>
1580                 </property>
1581                 <property name="decimals">
1582                  <number>0</number>
1583                 </property>
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1585                  <double>-180.000000000000000</double>
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1588                  <double>180.000000000000000</double>
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1592               <item row="2" column="2">
1593                <widget class="QLabel" name="label_30">
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1595                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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1597                   <verstretch>0</verstretch>
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1600                 <property name="minimumSize">
1601                  <size>
1602                   <width>70</width>
1603                   <height>30</height>
1604                  </size>
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1606                 <property name="maximumSize">
1607                  <size>
1608                   <width>0</width>
1609                   <height>30</height>
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1612                 <property name="styleSheet">
1613                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
1614 color: rgb(255, 255, 255);
1615 border-radius: 5;
1616 margin:1px;
1617 font:bold;</string>
1618                 </property>
1619                 <property name="text">
1620                  <string>Yaw</string>
1621                 </property>
1622                 <property name="alignment">
1623                  <set>Qt::AlignCenter</set>
1624                 </property>
1625                </widget>
1626               </item>
1627              </layout>
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1629            </item>
1630           </layout>
1631          </item>
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1633        </item>
1634        <item>
1635         <spacer name="verticalSpacer_5">
1636          <property name="orientation">
1637           <enum>Qt::Vertical</enum>
1638          </property>
1639          <property name="sizeType">
1640           <enum>QSizePolicy::Expanding</enum>
1641          </property>
1642          <property name="sizeHint" stdset="0">
1643           <size>
1644            <width>20</width>
1645            <height>40</height>
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1650       </layout>
1651      </widget>
1652      <widget class="QWidget" name="helpTab">
1653       <attribute name="title">
1654        <string>Help</string>
1655       </attribute>
1656       <layout class="QVBoxLayout" name="verticalLayout_3">
1657        <item>
1658         <widget class="QTextEdit" name="helpTextEdit">
1659          <property name="toolTip">
1660           <string>Calibration instructions</string>
1661          </property>
1662          <property name="horizontalScrollBarPolicy">
1663           <enum>Qt::ScrollBarAlwaysOff</enum>
1664          </property>
1665          <property name="html">
1666           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
1667 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
1668 p, li { white-space: pre-wrap; }
1669 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
1670 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600;&quot;&gt;Help&lt;/span&gt;&lt;/p&gt;
1671 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1672 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Steps 1, 2 and 3 are necessary.&lt;/span&gt;&lt;/p&gt;
1673 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Step 4 is optional but may help achieve the best possible results.&lt;/span&gt;&lt;/p&gt;
1674 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1675 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 1: Accelerometer and Magnetometer calibration&lt;/span&gt;&lt;/p&gt;
1676 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1677 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;This step will calibrate the scale for the Magnetometer and the Accelerometer sensors. &lt;/span&gt;&lt;/p&gt;
1678 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Press &lt;/span&gt;&lt;span style=&quot; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt; to begin, and follow the instructions for each step. &lt;/span&gt;&lt;/p&gt;
1679 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;For best results with the accelerometer calibration, it is advised that it be performed with a free unmounted flight controller as this allows one to accurately position the board for each orientation in the sequence.&lt;/span&gt;&lt;/p&gt;
1680 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1681 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;The magnetometer calibration must be performed with the board mounted in the airframe in order for the measurements to incorporate any bias produced by local onboard metal/magnetic elements.&lt;/span&gt;&lt;/p&gt;
1682 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1683 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Note 1: Before the magnetometer or the accelerometer calibration is performed your Home Location must be set. This step is needed in order to determine the local magnetic field vector (Be) and acceleration due to gravity (g_e).&lt;/span&gt;&lt;/p&gt;
1684 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1685 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;Note 2: There is no need to align the airframe exactly south, north, east or west during the individual steps. The directions indicated serve only to tell you in which direction the airframe should be positioned relative to some point.  One can simply assume that North is in front of you, East is to the right, West is to the left and South is pointing at you.&lt;/span&gt;&lt;/p&gt;
1686 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1687 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 2: Board level calibration&lt;/span&gt;&lt;/p&gt;
1688 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1689 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;This step will ensure that board leveling is accurate. Place the airframe as horizontally as possible (use a spirit level if necessary), then press &lt;/span&gt;&lt;span style=&quot; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;.  Do not move the airframe at all until the end of the calibration.&lt;/span&gt;&lt;/p&gt;
1690 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1691 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 3: Gyro bias calculation&lt;/span&gt;&lt;/p&gt;
1692 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1693 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;This step will allow you to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/airframe completely stationary and press &lt;/span&gt;&lt;span style=&quot; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;. &lt;/span&gt;&lt;/p&gt;
1694 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1695 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600; font-style:italic;&quot;&gt;Step 4: Thermal calibration&lt;/span&gt;&lt;/p&gt;
1696 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
1697 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;The calibration will compute sensors bias variations at different temperatures while the board warms up.&lt;/span&gt;&lt;/p&gt;
1698 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;This allows a certain amount of correction of those bias variations against temperature changes.  It improves altitude hold accuracy and reduces yaw drift.&lt;/span&gt;&lt;/p&gt;
1699 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;To perform this calibration disconnect any power from the board and leave it to cool down at room temperature for 15-20 minutes. Then attach the usb connector to the board and press &lt;/span&gt;&lt;span style=&quot; font-size:11pt; font-style:italic;&quot;&gt;Start&lt;/span&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;, leaving the board completely stationary. Wait until complete.&lt;/span&gt;&lt;/p&gt;
1700 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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1733        </property>
1734        <property name="maximumSize">
1735         <size>
1736          <width>25</width>
1737          <height>25</height>
1738         </size>
1739        </property>
1740        <property name="font">
1741         <font>
1742          <kerning>true</kerning>
1743         </font>
1744        </property>
1745        <property name="text">
1746         <string/>
1747        </property>
1748        <property name="icon">
1749         <iconset resource="../coreplugin/core.qrc">
1750          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
1751        </property>
1752        <property name="iconSize">
1753         <size>
1754          <width>25</width>
1755          <height>25</height>
1756         </size>
1757        </property>
1758        <property name="shortcut">
1759         <string>Ctrl+S</string>
1760        </property>
1761        <property name="default">
1762         <bool>false</bool>
1763        </property>
1764        <property name="flat">
1765         <bool>true</bool>
1766        </property>
1767       </widget>
1768      </item>
1769      <item>
1770       <widget class="QPushButton" name="revoCalSettingsSaveRAM">
1771        <property name="toolTip">
1772         <string>Save settings to the board (RAM only).
1773
1774 This does not save the calibration settings, this is done using the
1775 specific calibration button on top of the screen.</string>
1776        </property>
1777        <property name="text">
1778         <string>Apply</string>
1779        </property>
1780        <property name="objrelation" stdset="0">
1781         <string>button:apply</string>
1782        </property>
1783       </widget>
1784      </item>
1785      <item>
1786       <widget class="QPushButton" name="revoCalSettingsSaveSD">
1787        <property name="toolTip">
1788         <string>Send settings to the board, and save to the non-volatile memory.</string>
1789        </property>
1790        <property name="text">
1791         <string>Save</string>
1792        </property>
1793        <property name="checked">
1794         <bool>false</bool>
1795        </property>
1796        <property name="objrelation" stdset="0">
1797         <string>button:save</string>
1798        </property>
1799       </widget>
1800      </item>
1801     </layout>
1802    </item>
1803   </layout>
1804  </widget>
1805  <resources>
1806   <include location="../coreplugin/core.qrc"/>
1807  </resources>
1808  <connections/>
1809 </ui>