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Implementation of ArduRover pid configuration screen

QGC4.4
Michael Carpenter 12 years ago
parent
9e10b726e9
commit
75851a3691
7 changed files with 868 additions and 4 deletions
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  1. 9
      qgroundcontrol.pro
  2. 18
      src/ui/configuration/ApmSoftwareConfig.cc
  3. 2
      src/ui/configuration/ApmSoftwareConfig.h
  4. 13
      src/ui/configuration/ApmSoftwareConfig.ui
  5. 75
      src/ui/configuration/ArduRoverPidConfig.cc
  6. 23
      src/ui/configuration/ArduRoverPidConfig.h
  7. 732
      src/ui/configuration/ArduRoverPidConfig.ui

9
qgroundcontrol.pro
Unescape View File

@ -260,7 +260,8 @@ FORMS += src/ui/MainWindow.ui \
src/ui/configuration/ApmPlaneLevel.ui \ src/ui/configuration/ApmPlaneLevel.ui \
src/ui/configuration/ParamWidget.ui \ src/ui/configuration/ParamWidget.ui \
src/ui/configuration/ArduPlanePidConfig.ui \ src/ui/configuration/ArduPlanePidConfig.ui \
src/ui/configuration/AdvParameterList.ui src/ui/configuration/AdvParameterList.ui \
src/ui/configuration/ArduRoverPidConfig.ui
INCLUDEPATH += src \ INCLUDEPATH += src \
src/ui \ src/ui \
src/ui/linechart \ src/ui/linechart \
@ -445,7 +446,8 @@ HEADERS += src/MG.h \
src/ui/configuration/ApmPlaneLevel.h \ src/ui/configuration/ApmPlaneLevel.h \
src/ui/configuration/ParamWidget.h \ src/ui/configuration/ParamWidget.h \
src/ui/configuration/ArduPlanePidConfig.h \ src/ui/configuration/ArduPlanePidConfig.h \
src/ui/configuration/AdvParameterList.h src/ui/configuration/AdvParameterList.h \
src/ui/configuration/ArduRoverPidConfig.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@ -648,7 +650,8 @@ SOURCES += src/main.cc \
src/ui/configuration/ApmPlaneLevel.cc \ src/ui/configuration/ApmPlaneLevel.cc \
src/ui/configuration/ParamWidget.cc \ src/ui/configuration/ParamWidget.cc \
src/ui/configuration/ArduPlanePidConfig.cc \ src/ui/configuration/ArduPlanePidConfig.cc \
src/ui/configuration/AdvParameterList.cc src/ui/configuration/AdvParameterList.cc \
src/ui/configuration/ArduRoverPidConfig.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

18
src/ui/configuration/ApmSoftwareConfig.cc
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@ -16,6 +16,8 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
ui.advancedParamButton->setVisible(false); ui.advancedParamButton->setVisible(false);
ui.advParamListButton->setVisible(false); ui.advParamListButton->setVisible(false);
ui.arduCopterPidButton->setVisible(false); ui.arduCopterPidButton->setVisible(false);
ui.arduRoverPidButton->setVisible(false);
ui.arduPlanePidButton->setVisible(false);
/*basicPidConfig = new BasicPidConfig(this); /*basicPidConfig = new BasicPidConfig(this);
ui.stackedWidget->addWidget(basicPidConfig); ui.stackedWidget->addWidget(basicPidConfig);
@ -57,12 +59,18 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
buttonToConfigWidgetMap[ui.arduCopterPidButton] = arduCopterPidConfig; buttonToConfigWidgetMap[ui.arduCopterPidButton] = arduCopterPidConfig;
connect(ui.arduCopterPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); connect(ui.arduCopterPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
arduPlanePidConfig = new ArduPlanePidConfig(this); arduPlanePidConfig = new ArduPlanePidConfig(this);
ui.stackedWidget->addWidget(arduPlanePidConfig); ui.stackedWidget->addWidget(arduPlanePidConfig);
buttonToConfigWidgetMap[ui.arduPlanePidButton] = arduPlanePidConfig; buttonToConfigWidgetMap[ui.arduPlanePidButton] = arduPlanePidConfig;
connect(ui.arduPlanePidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget())); connect(ui.arduPlanePidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
arduRoverPidConfig = new ArduRoverPidConfig(this);
ui.stackedWidget->addWidget(arduRoverPidConfig);
buttonToConfigWidgetMap[ui.arduRoverPidButton] = arduRoverPidConfig;
connect(ui.arduRoverPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*))); connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
@ -101,11 +109,19 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
{ {
ui.arduPlanePidButton->setVisible(true); ui.arduPlanePidButton->setVisible(true);
ui.arduCopterPidButton->setVisible(false); ui.arduCopterPidButton->setVisible(false);
ui.arduRoverPidButton->setVisible(false);
} }
else if (uas->getSystemType() == MAV_TYPE_QUADROTOR) else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
{ {
ui.arduCopterPidButton->setVisible(true); ui.arduCopterPidButton->setVisible(true);
ui.arduPlanePidButton->setVisible(false); ui.arduPlanePidButton->setVisible(false);
ui.arduRoverPidButton->setVisible(false);
}
else if (uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
{
ui.arduRoverPidButton->setVisible(true);
ui.arduCopterPidButton->setVisible(false);
ui.arduPlanePidButton->setVisible(false);
} }

2
src/ui/configuration/ApmSoftwareConfig.h
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@ -11,6 +11,7 @@
#include "AdvancedParamConfig.h" #include "AdvancedParamConfig.h"
#include "ArduCopterPidConfig.h" #include "ArduCopterPidConfig.h"
#include "ArduPlanePidConfig.h" #include "ArduPlanePidConfig.h"
#include "ArduRoverPidConfig.h"
#include "AdvParameterList.h" #include "AdvParameterList.h"
#include "UASInterface.h" #include "UASInterface.h"
#include "UASManager.h" #include "UASManager.h"
@ -35,6 +36,7 @@ private:
AdvancedParamConfig *advancedParamConfig; AdvancedParamConfig *advancedParamConfig;
ArduCopterPidConfig *arduCopterPidConfig; ArduCopterPidConfig *arduCopterPidConfig;
ArduPlanePidConfig *arduPlanePidConfig; ArduPlanePidConfig *arduPlanePidConfig;
ArduRoverPidConfig *arduRoverPidConfig;
AdvParameterList *advParameterList; AdvParameterList *advParameterList;
QMap<QObject*,QWidget*> buttonToConfigWidgetMap; QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
}; };

13
src/ui/configuration/ApmSoftwareConfig.ui
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@ -201,6 +201,19 @@
</widget> </widget>
</item> </item>
<item> <item>
<widget class="QPushButton" name="arduRoverPidButton">
<property name="minimumSize">
<size>
<width>0</width>
<height>35</height>
</size>
</property>
<property name="text">
<string>ArduRover Pids</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer"> <spacer name="verticalSpacer">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Vertical</enum>

75
src/ui/configuration/ArduRoverPidConfig.cc
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@ -0,0 +1,75 @@
#include "ArduRoverPidConfig.h"
ArduRoverPidConfig::ArduRoverPidConfig(QWidget *parent) : AP2ConfigWidget(parent)
{
ui.setupUi(this);
nameToBoxMap["STEER2SRV_P"] = ui.steer2ServoPSpinBox;
nameToBoxMap["STEER2SRV_I"] = ui.steer2ServoISpinBox;
nameToBoxMap["STEER2SRV_D"] = ui.steer2ServoDSpinBox;
nameToBoxMap["STEER2SRV_IMAX"] = ui.steer2ServoIMAXSpinBox;
nameToBoxMap["XTRK_ANGLE_CD"] = ui.xtrackEntryAngleSpinBox;
nameToBoxMap["XTRK_GAIN_SC"] = ui.xtrackGainSpinBox;
nameToBoxMap["CRUISE_THROTTLE"] = ui.throttleCruiseSpinBox;
nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
nameToBoxMap["FS_THR_VALUE"] = ui.throttleFSSpinBox;
nameToBoxMap["HDNG2STEER_P"] = ui.heading2SteerPSpinBox;
nameToBoxMap["HDNG2STEER_I"] = ui.heading2SteerISpinBox;
nameToBoxMap["HDNG2STEER_D"] = ui.heading2SteerDSpinBox;
nameToBoxMap["HDNG2STEER_IMAX"] = ui.heading2SteerIMAXSpinBox;
nameToBoxMap["SPEED2THR_P"] = ui.speed2ThrottlePSpinBox;
nameToBoxMap["SPEED2THR_I"] = ui.speed2ThrottleISpinBox;
nameToBoxMap["SPEED2THR_D"] = ui.speed2ThrottleDSpinBox;
nameToBoxMap["SPEED2THR_IMAX"] = ui.speed2ThrottleIMAXSpinBox;
nameToBoxMap["CRUISE_SPEED"] = ui.roverCruiseSpinBox;
nameToBoxMap["SPEED_TURN_GAIN"] = ui.roverTurnSpeedSpinBox;
nameToBoxMap["SPEED_TURN_DIST"] = ui.roverTurnDistSpinBox;
nameToBoxMap["WP_RADIUS"] = ui.roverWPRadiusSpinBox;
nameToBoxMap["SONAR_TRIGGER_CM"] = ui.sonarTriggerSpinBox;
nameToBoxMap["SONAR_TURN_ANGLE"] = ui.sonarTurnAngleSpinBox;
nameToBoxMap["SONAR_TURN_TIME"] = ui.sonarTurnTimeSpinBox;
nameToBoxMap["SONAR_DEBOUNCE"] = ui.sonaeDebounceSpinBox;
}
ArduRoverPidConfig::~ArduRoverPidConfig()
{
}
void ArduRoverPidConfig::writeButtonClicked()
{
if (!m_uas)
{
return;
}
for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
{
m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
}
}
void ArduRoverPidConfig::refreshButtonClicked()
{
if (!m_uas)
{
return;
}
for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
{
m_uas->getParamManager()->requestParameterUpdate(1,i.key());
}
}
void ArduRoverPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
if (nameToBoxMap.contains(parameterName))
{
nameToBoxMap[parameterName]->setValue(value.toFloat());
}
}

23
src/ui/configuration/ArduRoverPidConfig.h
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@ -0,0 +1,23 @@
#ifndef ARDUROVERPIDCONFIG_H
#define ARDUROVERPIDCONFIG_H
#include <QWidget>
#include "ui_ArduRoverPidConfig.h"
#include "AP2ConfigWidget.h"
class ArduRoverPidConfig : public AP2ConfigWidget
{
Q_OBJECT
public:
explicit ArduRoverPidConfig(QWidget *parent = 0);
~ArduRoverPidConfig();
private slots:
void writeButtonClicked();
void refreshButtonClicked();
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
private:
QMap<QString,QDoubleSpinBox*> nameToBoxMap;
Ui::ArduRoverPidConfig ui;
};
#endif // ARDUROVERPIDCONFIG_H

732
src/ui/configuration/ArduRoverPidConfig.ui
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@ -0,0 +1,732 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ArduRoverPidConfig</class>
<widget class="QWidget" name="ArduRoverPidConfig">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>626</width>
<height>607</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>10</x>
<y>10</y>
<width>151</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>&lt;h2&gt;ArduRover Pids&lt;/h2&gt;</string>
</property>
</widget>
<widget class="QWidget" name="gridLayoutWidget">
<property name="geometry">
<rect>
<x>60</x>
<y>90</y>
<width>504</width>
<height>419</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>Steer 2 Servo</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_18">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QLabel" name="label_18">
<property name="text">
<string>P</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_19">
<property name="text">
<string>I</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_20">
<property name="text">
<string>D</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_21">
<property name="text">
<string>INT_MAX</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<widget class="QDoubleSpinBox" name="steer2ServoPSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="steer2ServoISpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="steer2ServoDSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="steer2ServoIMAXSpinBox">
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="1" column="1">
<widget class="QGroupBox" name="groupBox_7">
<property name="title">
<string>Speed 2 Throttle</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_20">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<widget class="QLabel" name="label_26">
<property name="text">
<string>P</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_27">
<property name="text">
<string>I</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_28">
<property name="text">
<string>D</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_29">
<property name="text">
<string>INT_MAX</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<widget class="QDoubleSpinBox" name="speed2ThrottlePSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="speed2ThrottleISpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="speed2ThrottleDSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="speed2ThrottleIMAXSpinBox">
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="1" column="0">
<widget class="QGroupBox" name="groupBox_9">
<property name="title">
<string>Heading 2 Steer</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_22">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_9">
<item>
<layout class="QVBoxLayout" name="verticalLayout_17">
<item>
<widget class="QLabel" name="label_34">
<property name="text">
<string>P</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_35">
<property name="text">
<string>I</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_36">
<property name="text">
<string>D</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_37">
<property name="text">
<string>INT_MAX</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_23">
<item>
<widget class="QDoubleSpinBox" name="heading2SteerPSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="heading2SteerISpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="heading2SteerDSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="heading2SteerIMAXSpinBox">
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="0" column="2">
<widget class="QGroupBox" name="groupBox_10">
<property name="title">
<string>Throttle 0-100%</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_24">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_10">
<item>
<layout class="QVBoxLayout" name="verticalLayout_25">
<item>
<widget class="QLabel" name="label_38">
<property name="text">
<string>Cruise</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_39">
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_40">
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_41">
<property name="text">
<string>FS Value</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_26">
<item>
<widget class="QDoubleSpinBox" name="throttleCruiseSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="throttleMinSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="throttleMaxSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="throttleFSSpinBox">
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox_11">
<property name="title">
<string>Xtrack Pids</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_27">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<layout class="QVBoxLayout" name="verticalLayout_28">
<item>
<widget class="QLabel" name="label_42">
<property name="text">
<string>Gain (cm)</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_43">
<property name="text">
<string>Entry Angle</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_29">
<item>
<widget class="QDoubleSpinBox" name="xtrackGainSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="xtrackEntryAngleSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item row="2" column="1">
<widget class="QGroupBox" name="groupBox_8">
<property name="title">
<string>Sonar</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_21">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<widget class="QLabel" name="label_30">
<property name="text">
<string>Trigger cm</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_31">
<property name="text">
<string>Turn Angle</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_32">
<property name="text">
<string>Turn Time</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_33">
<property name="text">
<string>Debounce</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<widget class="QDoubleSpinBox" name="sonarTriggerSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="sonarTurnAngleSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="sonarTurnTimeSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="sonaeDebounceSpinBox">
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="1" column="2">
<widget class="QGroupBox" name="groupBox_6">
<property name="title">
<string>Rover</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_19">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<layout class="QVBoxLayout" name="verticalLayout_11">
<item>
<widget class="QLabel" name="label_22">
<property name="text">
<string>Cruise Speed</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_23">
<property name="text">
<string>Turn Speed</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_24">
<property name="text">
<string>Turn Dist</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_25">
<property name="text">
<string>WP Radius</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_12">
<item>
<widget class="QDoubleSpinBox" name="roverCruiseSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="roverTurnSpeedSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="roverTurnDistSpinBox">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="roverWPRadiusSpinBox">
<property name="minimum">
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QPushButton" name="refreshPushButton">
<property name="geometry">
<rect>
<x>300</x>
<y>540</y>
<width>91</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>Refresh Params</string>
</property>
</widget>
<widget class="QPushButton" name="writePushButton">
<property name="geometry">
<rect>
<x>200</x>
<y>540</y>
<width>75</width>
<height>23</height>
</rect>
</property>
<property name="text">
<string>Write Params</string>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>
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