MainWindow.ui 46.6 KB
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>MainWindow</class>
 <widget class="QMainWindow" name="MainWindow">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
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    <width>1027</width>
    <height>585</height>
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   </rect>
  </property>
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  <property name="sizePolicy">
   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
    <horstretch>0</horstretch>
    <verstretch>0</verstretch>
   </sizepolicy>
  </property>
  <property name="maximumSize">
   <size>
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    <width>1500</width>
    <height>1000</height>
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   </size>
  </property>
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  <property name="windowTitle">
   <string>MainWindow</string>
  </property>
  <widget class="QWidget" name="centralWidget">
   <layout class="QGridLayout" name="gridLayout">
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    <item row="4" column="1" colspan="2">
     <widget class="QGroupBox" name="groupBox_general">
      <property name="title">
       <string/>
      </property>
      <layout class="QGridLayout" name="gridLayout_10">
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       <item row="3" column="0">
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        <widget class="QTabWidget" name="tabWidget">
         <property name="currentIndex">
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          <number>1</number>
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         </property>
         <widget class="QWidget" name="tab_3">
          <attribute name="title">
           <string>Safe Controller</string>
          </attribute>
          <layout class="QGridLayout" name="gridLayout_5">
           <item row="0" column="0">
            <widget class="QGroupBox" name="groupBox_2">
             <property name="title">
              <string/>
             </property>
             <layout class="QGridLayout" name="gridLayout_3">
              <item row="6" column="1">
               <widget class="QLineEdit" name="current_roll">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="2" column="1">
               <widget class="QLineEdit" name="current_y">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="4" column="1">
               <widget class="QLineEdit" name="current_yaw">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="3" column="1">
               <widget class="QLineEdit" name="current_z">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <widget class="QLabel" name="current_x_label">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>x [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="3" column="0">
               <widget class="QLabel" name="current_z_label">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>z [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="2" column="0">
               <widget class="QLabel" name="current_y_label">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>y [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="4" column="0">
               <widget class="QLabel" name="current_yaw_label">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>yaw [deg] = </string>
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                </property>
               </widget>
              </item>
              <item row="1" column="1">
               <widget class="QLineEdit" name="current_x">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="5" column="0">
               <widget class="QLabel" name="current_pitch_label">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>pitch [deg] =</string>
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                </property>
               </widget>
              </item>
              <item row="6" column="0">
               <widget class="QLabel" name="current_roll_label">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>roll [deg] =</string>
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                </property>
               </widget>
              </item>
              <item row="5" column="1">
               <widget class="QLineEdit" name="current_pitch">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="0" column="1">
               <widget class="QLabel" name="label_4">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
                 <string>Current</string>
                </property>
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                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
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               </widget>
              </item>
              <item row="1" column="2">
               <widget class="QLineEdit" name="diff_x">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="2" column="2">
               <widget class="QLineEdit" name="diff_y">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="3" column="2">
               <widget class="QLineEdit" name="diff_z">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="4" column="2">
               <widget class="QLineEdit" name="diff_yaw">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="0" column="2">
               <widget class="QLabel" name="label_5">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
                 <string>Difference</string>
                </property>
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                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
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               </widget>
              </item>
             </layout>
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            </widget>
           </item>
           <item row="0" column="1">
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            <widget class="QGroupBox" name="groupBox_3">
             <property name="title">
              <string/>
             </property>
             <layout class="QGridLayout" name="gridLayout_4">
              <item row="2" column="2">
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               <widget class="QLineEdit" name="new_setpoint_y">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
               </widget>
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              </item>
              <item row="4" column="2">
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               <widget class="QLineEdit" name="new_setpoint_yaw">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
               </widget>
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              </item>
              <item row="1" column="2">
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               <widget class="QLineEdit" name="new_setpoint_x">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
               </widget>
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              </item>
              <item row="2" column="1">
               <widget class="QLineEdit" name="current_setpoint_y">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="1" column="1">
               <widget class="QLineEdit" name="current_setpoint_x">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="4" column="0">
               <widget class="QLabel" name="label_11">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>yaw [deg] =</string>
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                </property>
               </widget>
              </item>
              <item row="0" column="1">
               <widget class="QLabel" name="label_12">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="font">
                 <font>
                  <pointsize>7</pointsize>
                 </font>
                </property>
                <property name="text">
                 <string>Current</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <widget class="QLabel" name="label_7">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>x [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="3" column="0">
               <widget class="QLabel" name="label_9">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>z [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="2" column="0">
               <widget class="QLabel" name="label_8">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>y [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="3" column="1">
               <widget class="QLineEdit" name="current_setpoint_z">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="5" column="2">
               <widget class="QPushButton" name="set_setpoint_button">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="font">
                 <font>
                  <pointsize>7</pointsize>
                 </font>
                </property>
                <property name="text">
                 <string>Set setpoint</string>
                </property>
               </widget>
              </item>
              <item row="4" column="1">
               <widget class="QLineEdit" name="current_setpoint_yaw">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="3" column="2">
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               <widget class="QLineEdit" name="new_setpoint_z">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
               </widget>
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              </item>
              <item row="0" column="0">
               <widget class="QLabel" name="label_3">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
                 <string>Setpoint:</string>
                </property>
               </widget>
              </item>
              <item row="0" column="2">
               <widget class="QLabel" name="label_13">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="font">
                 <font>
                  <pointsize>7</pointsize>
                 </font>
                </property>
                <property name="text">
                 <string>New</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
               </widget>
              </item>
             </layout>
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            </widget>
           </item>
           <item row="1" column="1">
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            <widget class="QPushButton" name="en_safe_controller">
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             <property name="sizePolicy">
              <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
             <property name="maximumSize">
              <size>
               <width>16777215</width>
               <height>50</height>
              </size>
             </property>
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             <property name="text">
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              <string>Enable Safe Controller</string>
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             </property>
            </widget>
           </item>
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           <item row="1" column="0">
            <widget class="QPushButton" name="load_safe_yaml_button">
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             <property name="sizePolicy">
              <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
             <property name="maximumSize">
              <size>
               <width>16777215</width>
               <height>50</height>
              </size>
             </property>
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             <property name="text">
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              <string>Load Safecontroller YAML file</string>
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             </property>
            </widget>
           </item>
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          </layout>
         </widget>
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         <widget class="QWidget" name="tab_4">
          <attribute name="title">
           <string>Custom Controller</string>
          </attribute>
          <layout class="QGridLayout" name="gridLayout_9">
           <item row="0" column="0">
            <widget class="QGroupBox" name="groupBox_5">
             <property name="title">
              <string/>
             </property>
             <layout class="QGridLayout" name="gridLayout_7">
              <item row="6" column="1">
               <widget class="QLineEdit" name="current_roll_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="2" column="1">
               <widget class="QLineEdit" name="current_y_2">
                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="4" column="1">
               <widget class="QLineEdit" name="current_yaw_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="3" column="1">
               <widget class="QLineEdit" name="current_z_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <widget class="QLabel" name="current_x_label_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>x [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="3" column="0">
               <widget class="QLabel" name="current_z_label_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>z [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="2" column="0">
               <widget class="QLabel" name="current_y_label_2">
                <property name="text">
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                 <string>y [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="4" column="0">
               <widget class="QLabel" name="current_yaw_label_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>yaw [deg] = </string>
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                </property>
               </widget>
              </item>
              <item row="1" column="1">
               <widget class="QLineEdit" name="current_x_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="5" column="0">
               <widget class="QLabel" name="current_pitch_label_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>pitch [deg] =</string>
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                </property>
               </widget>
              </item>
              <item row="6" column="0">
               <widget class="QLabel" name="current_roll_label_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>roll [deg] =</string>
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                </property>
               </widget>
              </item>
              <item row="5" column="1">
               <widget class="QLineEdit" name="current_pitch_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="0" column="1">
               <widget class="QLabel" name="label_6">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
                 <string>Current</string>
                </property>
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                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
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               </widget>
              </item>
              <item row="1" column="2">
               <widget class="QLineEdit" name="diff_x_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="2" column="2">
               <widget class="QLineEdit" name="diff_y_2">
                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="3" column="2">
               <widget class="QLineEdit" name="diff_z_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="4" column="2">
               <widget class="QLineEdit" name="diff_yaw_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="0" column="2">
               <widget class="QLabel" name="label_10">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
                 <string>Difference</string>
                </property>
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                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
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               </widget>
              </item>
             </layout>
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            </widget>
           </item>
           <item row="0" column="1">
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            <widget class="QGroupBox" name="groupBox_6">
             <property name="title">
              <string/>
             </property>
             <layout class="QGridLayout" name="gridLayout_8">
              <item row="2" column="2">
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               <widget class="QLineEdit" name="new_setpoint_y_2">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
               </widget>
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              </item>
              <item row="4" column="2">
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               <widget class="QLineEdit" name="new_setpoint_yaw_2">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
               </widget>
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              </item>
              <item row="1" column="2">
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               <widget class="QLineEdit" name="new_setpoint_x_2">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
               </widget>
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              </item>
              <item row="2" column="1">
               <widget class="QLineEdit" name="current_setpoint_y_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="1" column="1">
               <widget class="QLineEdit" name="current_setpoint_x_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="4" column="0">
               <widget class="QLabel" name="label_14">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>yaw [deg] =</string>
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                </property>
               </widget>
              </item>
              <item row="0" column="1">
               <widget class="QLabel" name="label_15">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="font">
                 <font>
                  <pointsize>7</pointsize>
                 </font>
                </property>
                <property name="text">
                 <string>Current</string>
                </property>
                <property name="alignment">
                 <set>Qt::AlignCenter</set>
                </property>
               </widget>
              </item>
              <item row="1" column="0">
               <widget class="QLabel" name="label_16">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>x [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="3" column="0">
               <widget class="QLabel" name="label_17">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>z [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="2" column="0">
               <widget class="QLabel" name="label_18">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
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                 <string>y [m] =</string>
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                </property>
               </widget>
              </item>
              <item row="3" column="1">
               <widget class="QLineEdit" name="current_setpoint_z_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="5" column="2">
               <widget class="QPushButton" name="set_setpoint_button_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="font">
                 <font>
                  <pointsize>7</pointsize>
                 </font>
                </property>
                <property name="text">
                 <string>Set setpoint</string>
                </property>
               </widget>
              </item>
              <item row="4" column="1">
               <widget class="QLineEdit" name="current_setpoint_yaw_2">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="readOnly">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
              <item row="3" column="2">
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               <widget class="QLineEdit" name="new_setpoint_z_2">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
               </widget>
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              </item>
              <item row="0" column="0">
               <widget class="QLabel" name="label_19">
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                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                  <horstretch>0</horstretch>
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
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                <property name="text">
                 <string>Setpoint:</string>
                </property>
               </widget>
              </item>
              <item row="0" column="2">
               <widget class="QLabel" name="label_20">
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