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diff --git a/tracker-s2bot/s2bot-controls.ui b/tracker-s2bot/s2bot-controls.ui
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+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UI_s2bot_dialog</class>
+ <widget class="QWidget" name="UI_s2bot_dialog">
+ <property name="windowModality">
+ <enum>Qt::NonModal</enum>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>227</width>
+ <height>372</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Tracker settings</string>
+ </property>
+ <property name="windowIcon">
+ <iconset>
+ <normaloff>../gui/images/facetracknoir.png</normaloff>../gui/images/facetracknoir.png</iconset>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QFrame" name="frame">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::NoFrame</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QLabel" name="label_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Update frequency (Hz)</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QSpinBox" name="freq">
+ <property name="minimum">
+ <number>1</number>
+ </property>
+ <property name="maximum">
+ <number>120</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="title">
+ <string>Axis order</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0" rowspan="2">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>output yaw</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QComboBox" name="input_x">
+ <item>
+ <property name="text">
+ <string>input yaw</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input pitch</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input roll</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input bearing</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="1" column="1" rowspan="2">
+ <widget class="QComboBox" name="input_y">
+ <item>
+ <property name="text">
+ <string>input yaw</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input pitch</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input roll</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input bearing</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="2" column="0" rowspan="2">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>output pitch</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1" rowspan="2">
+ <widget class="QComboBox" name="input_z">
+ <item>
+ <property name="text">
+ <string>input yaw</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input pitch</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input roll</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>input bearing</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>output roll</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="title">
+ <string>Add to axis</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>yaw</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QComboBox" name="add_yaw">
+ <item>
+ <property name="text">
+ <string>0</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>+90</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>-90</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>+180</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>-180</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>pitch</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>roll</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QComboBox" name="add_pitch">
+ <item>
+ <property name="text">
+ <string>0</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>+90</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>-90</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>+180</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>-180</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QComboBox" name="add_roll">
+ <item>
+ <property name="text">
+ <string>0</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>+90</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>-90</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>+180</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>-180</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+ <slots>
+ <slot>startEngineClicked()</slot>
+ <slot>stopEngineClicked()</slot>
+ <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>