pixhawk
13 years ago
10 changed files with 632 additions and 824 deletions
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#include "QGCMissionNavWaypoint.h" |
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#include "ui_QGCMissionNavWaypoint.h" |
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#include "WaypointEditableView.h" |
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QGCMissionNavWaypoint::QGCMissionNavWaypoint(WaypointEditableView* WEV) : |
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QWidget(WEV), |
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ui(new Ui::QGCMissionNavWaypoint) |
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{ |
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ui->setupUi(this); |
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this->WEV = WEV; |
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//Using UI to change WP:
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connect(this->ui->holdTimeSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double))); |
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connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double))); |
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//connect(this->ui->param3SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
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connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double))); |
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connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
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connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double))); |
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connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double))); |
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connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
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connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double))); |
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connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double))); |
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//Reading WP to update UI:
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connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME))); |
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connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->holdTimeSpinBox,SLOT(setValue(double))); |
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connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double))); |
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//connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->param3SpinBox,SLOT(setValue(double)));
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connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double))); |
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connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
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connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double))); |
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connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double))); |
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connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
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connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double))); |
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connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double))); |
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} |
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void QGCMissionNavWaypoint::updateFrame(MAV_FRAME frame) |
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{ |
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switch(frame) |
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{ |
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case MAV_FRAME_LOCAL_ENU: |
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case MAV_FRAME_LOCAL_NED: |
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this->ui->posNSpinBox->show(); |
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this->ui->posESpinBox->show(); |
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this->ui->posDSpinBox->show(); |
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this->ui->latSpinBox->hide(); |
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this->ui->lonSpinBox->hide(); |
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this->ui->altSpinBox->hide(); |
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break; |
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case MAV_FRAME_GLOBAL: |
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case MAV_FRAME_GLOBAL_RELATIVE_ALT: |
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this->ui->posNSpinBox->hide(); |
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this->ui->posESpinBox->hide(); |
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this->ui->posDSpinBox->hide(); |
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this->ui->latSpinBox->show(); |
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this->ui->lonSpinBox->show(); |
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this->ui->altSpinBox->show(); |
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break; |
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default: |
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break; |
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} |
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} |
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QGCMissionNavWaypoint::~QGCMissionNavWaypoint() |
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{ |
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delete ui; |
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} |
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@ -0,0 +1,32 @@
@@ -0,0 +1,32 @@
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#ifndef QGCMISSIONNAVWAYPOINT_H |
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#define QGCMISSIONNAVWAYPOINT_H |
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#include <QWidget> |
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#include "WaypointEditableView.h" |
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namespace Ui { |
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class QGCMissionNavWaypoint; |
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} |
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class QGCMissionNavWaypoint : public QWidget |
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{ |
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Q_OBJECT |
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public: |
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explicit QGCMissionNavWaypoint(WaypointEditableView* WEV); |
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~QGCMissionNavWaypoint(); |
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public slots: |
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void updateFrame(MAV_FRAME); |
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protected: |
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WaypointEditableView* WEV; |
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private: |
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Ui::QGCMissionNavWaypoint *ui; |
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}; |
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#endif // QGCMISSIONNAVWAYPOINT_H
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@ -0,0 +1,343 @@
@@ -0,0 +1,343 @@
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<?xml version="1.0" encoding="UTF-8"?> |
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<ui version="4.0"> |
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<class>QGCMissionNavWaypoint</class> |
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<widget class="QWidget" name="QGCMissionNavWaypoint"> |
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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>2208</width> |
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<height>37</height> |
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</rect> |
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</property> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="Preferred" vsizetype="Preferred"> |
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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="minimumSize"> |
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<size> |
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<width>200</width> |
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<height>0</height> |
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</size> |
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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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<property name="styleSheet"> |
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<string notr="true"/> |
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</property> |
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<layout class="QHBoxLayout" name="horizontalLayout"> |
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<property name="spacing"> |
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<number>5</number> |
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</property> |
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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="QDoubleSpinBox" name="posNSpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="Expanding" vsizetype="Fixed"> |
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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="focusPolicy"> |
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<enum>Qt::WheelFocus</enum> |
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</property> |
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<property name="toolTip"> |
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<string>Position X coordinate</string> |
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</property> |
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<property name="statusTip"> |
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<string>Position X corrdinate</string> |
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</property> |
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<property name="wrapping"> |
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<bool>false</bool> |
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</property> |
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<property name="frame"> |
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<bool>true</bool> |
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</property> |
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<property name="accelerated"> |
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<bool>true</bool> |
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</property> |
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<property name="prefix"> |
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<string>N </string> |
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</property> |
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<property name="suffix"> |
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<string> m</string> |
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</property> |
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<property name="minimum"> |
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<double>-10000.000000000000000</double> |
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</property> |
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<property name="maximum"> |
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<double>10000.000000000000000</double> |
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</property> |
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<property name="singleStep"> |
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<double>0.050000000000000</double> |
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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="QDoubleSpinBox" name="posESpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="Expanding" vsizetype="Fixed"> |
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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="focusPolicy"> |
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<enum>Qt::WheelFocus</enum> |
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</property> |
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<property name="toolTip"> |
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<string>Position Y/Longitude coordinate</string> |
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</property> |
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<property name="statusTip"> |
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<string>Position Y/Longitude coordinate</string> |
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</property> |
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<property name="prefix"> |
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<string>E </string> |
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</property> |
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<property name="suffix"> |
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<string> m</string> |
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</property> |
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<property name="minimum"> |
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<double>-10000.000000000000000</double> |
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</property> |
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<property name="maximum"> |
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<double>10000.000000000000000</double> |
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</property> |
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<property name="singleStep"> |
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<double>0.050000000000000</double> |
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</property> |
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<property name="value"> |
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<double>0.000000000000000</double> |
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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="QDoubleSpinBox" name="posDSpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="Expanding" vsizetype="Fixed"> |
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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="focusPolicy"> |
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<enum>Qt::WheelFocus</enum> |
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</property> |
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<property name="toolTip"> |
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<string>Position Z coordinate (local frame, negative)</string> |
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</property> |
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<property name="statusTip"> |
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<string/> |
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</property> |
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<property name="prefix"> |
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<string>D </string> |
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</property> |
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<property name="suffix"> |
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<string> m</string> |
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</property> |
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<property name="minimum"> |
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<double>-10000.000000000000000</double> |
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</property> |
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<property name="maximum"> |
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<double>10000.000000000000000</double> |
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</property> |
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<property name="singleStep"> |
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<double>0.050000000000000</double> |
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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="QDoubleSpinBox" name="latSpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="Expanding" vsizetype="Fixed"> |
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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="focusPolicy"> |
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<enum>Qt::WheelFocus</enum> |
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</property> |
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<property name="toolTip"> |
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<string>Latitude in degrees</string> |
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</property> |
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<property name="statusTip"> |
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<string>Latitude in degrees</string> |
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</property> |
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<property name="prefix"> |
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<string>lat </string> |
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</property> |
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<property name="suffix"> |
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<string>°</string> |
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</property> |
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<property name="decimals"> |
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<number>7</number> |
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</property> |
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<property name="minimum"> |
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<double>-90.000000000000000</double> |
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</property> |
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<property name="maximum"> |
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<double>90.000000000000000</double> |
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</property> |
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<property name="singleStep"> |
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<double>0.000010000000000</double> |
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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="QDoubleSpinBox" name="lonSpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="Expanding" vsizetype="Fixed"> |
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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="focusPolicy"> |
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<enum>Qt::WheelFocus</enum> |
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</property> |
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<property name="toolTip"> |
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<string>Longitude in degrees</string> |
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</property> |
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<property name="statusTip"> |
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<string>Longitude in degrees</string> |
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</property> |
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<property name="prefix"> |
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<string>lon </string> |
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</property> |
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<property name="suffix"> |
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<string>°</string> |
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</property> |
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<property name="decimals"> |
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<number>7</number> |
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</property> |
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<property name="minimum"> |
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<double>-180.000000000000000</double> |
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</property> |
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<property name="maximum"> |
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<double>180.000000000000000</double> |
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</property> |
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<property name="singleStep"> |
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<double>0.000010000000000</double> |
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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="QDoubleSpinBox" name="altSpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="Expanding" vsizetype="Fixed"> |
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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="toolTip"> |
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<string>Altitude in meters</string> |
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</property> |
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<property name="statusTip"> |
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<string>Altitude in meters</string> |
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</property> |
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<property name="prefix"> |
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<string>alt </string> |
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</property> |
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<property name="suffix"> |
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<string>m</string> |
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</property> |
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<property name="decimals"> |
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<number>2</number> |
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</property> |
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<property name="minimum"> |
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<double>-100000.000000000000000</double> |
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</property> |
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<property name="maximum"> |
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<double>100000.000000000000000</double> |
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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="QDoubleSpinBox" name="yawSpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="Expanding" vsizetype="Fixed"> |
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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="focusPolicy"> |
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<enum>Qt::StrongFocus</enum> |
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</property> |
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<property name="toolTip"> |
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<string>Rotary wing only: Desired yaw angle at waypoint</string> |
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</property> |
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<property name="statusTip"> |
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<string>Rotary wing only: Desired yaw angle at waypoint</string> |
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</property> |
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<property name="wrapping"> |
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<bool>true</bool> |
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</property> |
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<property name="prefix"> |
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<string/> |
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</property> |
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<property name="suffix"> |
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<string>°</string> |
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</property> |
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<property name="decimals"> |
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<number>0</number> |
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</property> |
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<property name="minimum"> |
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<double>-180.000000000000000</double> |
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</property> |
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<property name="maximum"> |
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<double>180.000000000000000</double> |
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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="QDoubleSpinBox" name="acceptanceSpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed"> |
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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="toolTip"> |
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<string>Uncertainty radius in meters |
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where to accept this waypoint as reached</string> |
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</property> |
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<property name="statusTip"> |
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<string>Uncertainty radius in meters where to accept this waypoint as reached</string> |
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</property> |
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<property name="suffix"> |
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<string> m</string> |
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</property> |
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<property name="value"> |
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<double>0.200000000000000</double> |
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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="QDoubleSpinBox" name="holdTimeSpinBox"> |
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<property name="sizePolicy"> |
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<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed"> |
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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="toolTip"> |
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<string>Time to stay/loiter at this position before advancing</string> |
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</property> |
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<property name="statusTip"> |
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<string>Time to stay/loiter at this position before advancing</string> |
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</property> |
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<property name="suffix"> |
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<string> s</string> |
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</property> |
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<property name="maximum"> |
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<double>9999.989999999999782</double> |
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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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<resources/> |
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<connections/> |
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</ui> |
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